Miracle-dz/UniFAR-FTUs huggingface dataset:
The Compliant Joint Toolbox for MATLAB: An Introduction With Examples

This article presents the Complianhis Compliant Joint Toolbox for the modeling, simu lation, and controller development of compliant robot actuators. The object-oriented toolbox is written in MATLAB/Simulink. In a few lines of code, it can batch-generate ready-to-use joint actuator model classes from multiple parameter sets, in corporating a variety of nonlinear dynamics effects.
Large-Scale Outdoor SLAM Based on 2D Lidar

For autonomous driving, it is important to navigate in an unknown environment. In this paper, we propose a fully automated 2D simultaneous localization and mapping (SLAM) system based on lidar working in large-scale outdoor environments. To improve the accuracy and robustness of the scan matching module, an improved Correlative Scan Matching (CSM) algorithm is proposed. For efficient place recognition, we design an AdaBoost based loop closure detection algorithm which can efficiently reject false loop closures. For the SLAM back-end, we propose a light-weight graph optimization algorithm based on incremental smoothing and mapping (iSAM). The performance of our system is verified on various large-scale datasets including our real-world datasets and the KITTI odometry benchmark. Further comparisons to the state-of-the-art approaches indicate that our system is competitive with established techniques.
Nanostructured Gold Microelectrodes for Non‐enzymatic Glucose Sensor

A novel, highly stable, selective, and sensitive non-enzymatic glucose sensor was developed by simple and effective modification procedure. The modification of gold microelectrodes by electrochemically deposited gold nanoparticles resulted in increase of surface area up to 37%. The nanostructured surfaces of the gold microelectrodes obtained by different modifications were studied by confocal microscopy, atomic force microscopy, and scanning electron microscopy. The gold nanoclusters exhibit great electrocatalytic properties toward glucose with a wide linear range from 0.5 to 50 mM, with a limit of detection 218 μM, and sensitivity of 185.2 mAmM cm . Moreover, the modified microelectrodes display good reproducibility, stability, and selectivity in the presence of poisoning compounds. Due to the small dimensions of gold microelectrodes and a very small volume of the sample, the microelectrodes make a contribution to miniaturisation of the system.
Attractiveness is positively related to World Cup performance in male, but not female, biathletes

Whole-organism performance capacity is thought to play a key role in sexual selection, through its impacts on both intrasexual competition and intersexual mate choice. Based on data from elite sports, several studies have reported a positive association between facial attractiveness and athletic performance in humans, leading to claims that facial correlates of sporting prowess in men reveal heritable or nonheritable mate quality. However, for most of the sports studied (soccer, ice hockey, American football, and cycling), it is not possible to separate individual performance from team performance. Here, using photographs of athletes who compete annually in a multi-event World Cup, we examine the relationship between facial attractiveness and individual career-best performance metrics in the biathlon, a multidisciplinary sport that combines target shooting and cross-country skiing. Unlike all previous studies, which considered only male athletes, we report relationships for both sportsmen and sportswomen. As predicted by evolutionary arguments, we found that male biathletes were judged more attractive if (unknown to the raters) they had achieved a higher peak performance (World Cup points score) in their career, whereas there was no significant relationship for female biathletes. Our findings show that elite male athletes display visible, attractive cues that reliably reflect their athletic performance.
Carboxylato-pillar[6]arene-based fluorescent indicator displacement assays for the recognition of monoamine neurotransmitters

The complexation of three cationic fluorescent dye guests with the anionic host carboxylato-pillar[6]arene (WP6) was investigated by optical and NMR spectroscopy. Among the selected indicators – a stilbazolium dye (i1) and two naphthalimide derivatives with positively charged ‘anchor’ groups (i2 and i3) – i1 gave a large turn-on, i2 and i3 a large turn-off fluorescence response to the complexation. The size selectivity of the complex formation of pillararenes was demonstrated by comparing the binding constants of the complexes of the three indicators with WP6 and its smaller homologue, WP5. The systems WP6·i1 and WP6·i2 were tested as indicator displacement assays for the sensing of monoamine neurotransmitters. The WP6·i1 system functioned as a turn-off, the WP6·i2 system as a turn-on sensor for neurotransmitters, and both assays showed a good selectivity to histamine over the other neurotransmitter analytes.
Design of International Engineering Design Challenge (IEDC)

A series of workshops, called International Engineering Design Challenge (IEDC), are introduced. This series of workshops are held by three Japanese universities and two Thai universities. The main goal of the workshops is fostering participants skills for group works with various background members. In the workshops, each group tried to create a solution for an open question through group works. In this paper, the history of the workshops is shown, and the design concepts are discussed.
More-Than Human Centred Design: Considering Other Things

Abstract This paper responds to contemporary design contexts that frequently contain complex interdependencies of human and non-human actants. To adequately represent these perspectives requires a shift towards More-Than Human Centred Design. The Internet of Things (IoT) is one context that demonstrates this need. The ‘things’ within such networks transcend their physical forms and extend to include algorithms, humans, data, business models, etc. and each imports independent-but-interdependent motivations and perspectives. Therefore, we use the IoT to clarify our proposition and to convey our three contributions. First, we review the expanding corpus of contemporary Human–Computer Interaction research that seeks to expand the notion of Human Centred Design by moving beyond the dominant anthropocentric perspective. Second, we introduce a novel design metaphor, ‘constellations’, which allows both the interdependencies and independent perspectives to be considered. Third, we provide an account of a speculative design to demonstrate how it may be put into practice.
The effect of pre-partum diet on the severity of post-partum ruminal acidosis in primiparous dairy cows

Two experiments were conducted. In experiment 1, the objectives were: 1) to develop and evaluate the accuracy and precision of a new continuous ruminal pH measurement system 2) to determine the required frequency for pH electrode standardization and 3) to determine the effect of additional pre-partum concentrate when compared to NRC (2001) recommendations on post-partum ruminal acidosis in primiparous cows. Accuracy and precision of the Lethbridge Research Centre Ruminal pH measurement system (LRCpH) was determined by comparing LRCpH derived values against manual measurement. To determine the required frequency of electrode standardization, three treatments were imposed (24, 48, or 72 h of continuous measurement) and arranged in a repeated 3×3 Latin square design. The LRCpH accurately and precisely measured ruminal pH (repeated measures correlation coefficient = 0.97 and concordance correlation coefficient = 0.97 for 5-min averages). Changes in baseline mV readings for pH readings after 24, 48 or 72 h of ruminal incubation were not significantly different than zero, indicating that daily standardization of new electrodes was not essential. Using the LRCpH to measure ruminal pH overcomes animal mobility restrictions of previous systems. In experiment 2, the effect of additional concentrate allocation during the prepartum period was evaluated using 14 ruminally cannulated Holstein heifers. The heifers were assigned to one of two feeding regimes pre-calving: 1) control treatment or 2) an intensive high concentrate feeding treatment (HC). All cows received the same lactation diet post-partum. Ruminal pH was measured continuously from d -5 to d +5, and for 3-consecutive days starting on d +17 ± 1.2, d +37 ± 1.4, and d +58 ± 1.5 relative
Design and analysis of a novel wound rotor for a bearingless induction motor

ABSTRACT The traditional squirrel-type bearingless induction motor (BIM) suspension winding generates induced current in its squirrel-cage rotor and affects the phase and amplitude of the suspension force. Based on the analysis of the spatial distribution of torque winding magnetic field and suspension winding magnetic field, a new type of wound rotor BIM is designed. Different from the squirrel-cage rotor, the wound rotor uses a special method of embedding a set of coils at any symmetrical four rotor slot positions, so as to only induce the torque winding magnetic field. The induced current, air-gap magnetic density, magnetic field line distribution, suspension force as well as electromagnetic torque of the traditional squirrel-cage motor and the new wound motor are analysed by Maxwell finite element calculation. The results show that the designed new wound BIM can not only effectively suppress the induced current of suspension winding, eliminating its influence on the suspension force, but also has a better starting performance.
Selectivity of Benazolin in Wild Mustard and Rape Species

The selectivity of 4-chloro-2-oxobenzothiazolin-3-ylacetic acid (benazolin) in wild mustard [Brassica kaber (DC.) L. C. Wheeler var. pinnatifida (Stokes) L. C. Wheeler], turnip rape (Brassica campestris L. ‘Echo’), and rape (Brassica napus L. ‘Target’) was studied. On an ED50 basis wild mustard was 19 and 32 times more susceptible to foliar-applied benazolin than was turnip rape and rape, respectively. The addition of surfactant increased the toxicity of benazolin to the Brassica species. Benazolin was less selective when applied via roots. Selectivity was further studied on the bases of differential spray retention and foliar penetration. Rape retained less spray than did wild mustard and turnip rape. The inclusion of surfactants in formulations increased spray retention by rape. Less 14C-benazolin penetrated leaves of the rape species as compared to wild mustard. Surfactant enhanced penetration of 14C-benazolin into leaves of the three species. Leaf surface features which resulted in high spray retention and rapid penetration of benazolin partly explained the susceptibility of wild mustard. The variation in tolerance between the two rape species was attributed to differential spray retention.
Learning Context-aware Structural Representations to Predict Antigen and Antibody Binding Interfaces

Understanding how antibodies specifically interact with their antigens can enable better drug and vaccine design, as well as provide insights into natural immunity. Experimental structural characterization can detail the “ground truth” of antibody-antigen interactions, but computational methods are required to efficiently scale to large-scale studies. In order to increase prediction accuracy as well as to provide a means to gain new biological insights into these interactions, we have developed a unified deep learning-based framework to predict binding interfaces on both antibodies and antigens. The framework leverages three key aspects of antibody-antigen interactions in order to learn predictive structural representations: (1) since interfaces are formed from multiple residues in spatial proximity, we employ graph convolutions to aggregate properties across local regions in a protein; (2) since interactions are specific between antibody-antigen pairs, we employ an attention layer to explicitly encode the context of the partner; (3) since more data is available for general protein-protein interactions, we employ transfer learning to leverage this data as a prior for the specific case of antibody-antigen interactions. We show that this single framework achieves state-of-the-art performance at predicting binding interfaces on both antibodies and antigens, and that each of its three aspects drives additional improvement in the performance. We further show that the attention layer not only improves performance, but also provides a biologically interpretable perspective into the mode of interaction.
Supply- and Load-Modulated Balanced Amplifier for Efficient Broadband 5G Base Stations

This paper presents a broadband efficient power amplifier (PA) targeting sub-6-GHz 5G base station applications. Due to the demanding requirements in both peak-to-average power ratio (PAPR) and bandwidth in 5G systems, we employ a combination of both load and supply modulation for efficiency enhancement. Active matching, implemented using an RF-input load-modulated balanced amplifier (LMBA) architecture, enables efficient octave-bandwidth operation. Supply modulation, which is carrier frequency agnostic, is then used to further extend the back-off efficiency. This paper focuses on a study of supply modulation strategies for the load-modulated PA using an efficient GaN eight-level discrete supply modulator. To overcome the bandwidth limitations associated with discrete-level switching, a commutation rate reduction (CRR) filter is applied in digital baseband and its effects are analyzed theoretically and experimentally. The supply-modulated LMBA is characterized across 1.8–3.8 GHz with 100-MHz, 10-dB PAPR signals. An output power of 34 dBm with average composite (total) PAE ranging from 22.4% to 43.9% across the band is demonstrated, with an ACLR of about −50 dBc after digital predistortion.
Layered Multiple Description Coding for Video Streaming over IP Networks

The specific implementation of the layered multiple description coding for video streaming over IP networks is studied, and some optimized coding and transport schemes for different users were found in the paper. It is found that such codes can offer the minimum possible distortion, i.e. the difference with the theoretical value for low-bandwidth clients is 0 dB whereas the difference with the theoretical value for high-bandwidth clients is 1.4dB.
Attribute Reductions and Attribute Features of Formal Contexts Based on a Type of Rough Sets

Rough sets theory is a kind of tools for data analysis and knowledge discovery.The knowledge hidden in uni- verse or information systems can be revealed by using the lower and upper approximation operators.Representing knowledge with more little attributes is an interesting subject.In this paper,a type of lower and upper approximation is defined in formal contexts——pecial information systems,and the properties of the operators are investigated.Based on the defined approximation operators,the definition of attribute reduction is given,and the theory and method of at- tribute reduction is examined.The given feature characterization of attributes shows the relationships between each at- tribute and all attribute reductions.
Induction of Apoptosis and Cell Cycle Arrest in two Human Cancer A549 and HT29 Cells Lines by Barhi Date Palm Kernels Extracts and Three Isolated Cytotoxic Compounds

Background and objectives: The initiation of apoptotic death in cancer cells is the aim of many chemotherapeutic strategies. As many anticancer agents have been discovered in natural plant sources, the search for novel phytochemicals displaying anticancer activities continues at a tremendous rate. This study was conducted to evaluate the effect of extractable polyphenols (EPP); non-extractable polyphenols (NEPP); nobiletin (NOB); tectorigenin (TEC) and persicogenin (PERS) from Barhi date palm kernels (BDPK) extracts on the induction of apoptosis in human lung cancer A549 and colon cancer HT29 cell lines. Materials and Methods: The anticancer activities were determined using MTT and trypan blue exclusion assays. Flow cytometry analysis was performed to study the cell viability, cell cycle arrest and apoptosis. The underlying mechanism of apoptosis induced by crude extracts and the purified compounds was investigated using caspase-3, -8 and -9 assays and the mitochondrial membrane potential assay. Results: The findings indicate that both BDPK extracts and the purified compounds do exert induced cell death on A549 and HT29 cells. The results observed from MTT- assay and trypan blue exclusion indicate that the cytotoxic effects of both plant extracts and the three isolated flavonoids are dose-dependent with higher cell death after 72 hours treatment. Treatment of human lung and colon cancer cells with EPP, NEPP, NOB, TEC and PERSI induced late stages of apoptosis as there was evidence of the DNA degradation and high percentage of the cells population was situated at sub-G1 phase, indicating a high population of apoptotic cells. Conclusions: Study of the apoptotic mechanism demonstrated that EPP and NEPP exhibited dependent mitochondrial signalling pathway as seen with caspase-9 and induced receptor-mediated (extrinsic) apoptotic pathway as seen with caspase-8. Therefore, our results suggest that BDPK extracts and the three isolated flavonoids could be a good candidate for developing anticancer agents.
Genetic diversity of strawberry cultivars in Banyuroto, Magelang, Indonesia based on Cleaved Amplified Polymorphic Sequence

Abstract. Arif MF, Aristya GR, Kasiamdari RS. 2019. Genetic diversity of strawberry cultivars in Banyuroto, Magelang, Indonesia based on Cleaved Amplified Polymorphic Sequence. Biodiversitas 20: 1721-1728. Banyuroto Village, Magelang, Central Java is the center of strawberry (Fragaria spp.) development and cultivation program. The mild climate makes the location very suitable for developing sub-tropic horticulture such as strawberry. Various kinds of cultivars have been developed as part of the agrotourism program. However, genetic variation research of those cultivars is still rarely done. Therefore, the molecular study of strawberry was conducted to determine the genetic variation using CAPS markers. DNA of Five strawberry cultivars from Banyuroto and seven strawberry cultivars from Indonesian Citrus and Subtropical Fruits Research Institute, Malang were isolated using the CTAB method. DNA amplification was performed by PCR using four pairs of primers named APx, OLP, F3H2, and CTI2. The amplification results were cut with three kinds of restriction endonuclease enzymes named MboI, MluI, and TaqI. Restriction product was used to analyze the genetic variation of twelve cultivars and to construct the dendrogram using MVSP software with the UPGMA algorithm. The result showed that the percentage of polymorphic was 45% from 9 polymorphic bands. Dendrogram result showed that there were four clusters. Cluster A consists of Stroberi Hitam, Cluster B consists of Californica Cultivars, cluster C consists of Osso Grande and Osso Purbalingga cultivars, and cluster D consists of Rosalinda, Deeprose, Dorit, Earlibrite, Tristar, Festival, Brastagi, and Aerut. This research concluded that CAPS markers can be used as a method for study genetic diversity of strawberries.
Antibiotic Sensitivity Pattern of the Isolated of Urinary Pathogens at Dhaka National Medical College & Hospital

Urinary tract infection is the most common infection causing illness in children and adults. This study was aimed to identify the uropathogens and their antibiotic sensitivity pattern. This study was done in Microbiology Department at Dhaka National Medical College & Hospital, Dhaka, during January, 2010 to December, 2010. A total of 1874 samples of urine were collected from suspected cases of urinary tract infections, from Dhaka National Medical College & Hospital. Among them, 290 (15.48%) showed significant bacterial growth. The most common uropathogens isolated were E.coli 229 (78.97%), Staph. saphrophyticus 15 (5.18%), Coliform 12 (4.13%), Klebsiella spp. 10 (3.44%), Enteococous 10 (3.44%), Staph. aureus 05 (1.72%), Streptococcus spp. 05 (1.72%) and Pseudomonas spp. 04 (1.38%). E.coli is the most common urupathogen and showed sensitivity pattern to Imipenem 84.28%, Amikacin 83.41%, Nitrofurantoin 73.80%, Gentamycin 66.88%, Ciprofloxacin 41.48%, Doxycycline 36.30%, Ceftazidime 34.50%, Ceftriaxone 33.62%, Cefexime 31.0%, Cotrimoxazole 32.31%, Nalidixic acid 24.01%, Cephradine 17.47% and Ampicillin 11.35%. DOI: http://dx.doi. org/10.3329/jdnmch.v18i1. 12223 J. Dhaka National Med. Coll. Hos. 2012; 18 (01): 4-6
Physio and Organoleptic Characteristics of Tomatoes and Ketchup Prepared from Different Varieties of Tomato

Tomatoes are a boots of nutrient enriched with antioxidants and essential mineral that are vital for growth, fighting cancer, increasing immunity, improved vision and fighting against infections etc. Moreover, tomatoes ranked top among the canning and value addition food industries for making culinary products for storage. During the glut season, food preservation is a sound approach to store the product for further use to meet the domestic and commercial demands at reasonable price by storing them in off-season. In the present research work, three varieties of tomato namely TH1, TH1251 and TH SHIVA were evaluated in terms of physical parameters i.e. shape, size, colour and firmness etc. Tomatoes were processed and further evaluated organoleptically in terms of colour, flavor, taste, texture and over all acceptability on a nine point hedonic scale for ketchup making so that the best variety should be utilized for making tomatoes ketchup for food preservation. The results concluded that there was statistically significant difference found among the three different varieties of tomato and TH 1 had overall high acceptability (1.25±0.37) in terms of colour (1.14±0.37), flavour (1.14±0.37), texture (1.42±0.37) and taste (1.25±0.37) as well.
A change detection method for remote sensing image based on LBP and SURF feature

Finding the change in multi-temporal remote sensing image is important in many the image application. Because of the infection of climate and illumination, the texture of the ground object is more stable relative to the gray in high-resolution remote sensing image. And the texture features of Local Binary Patterns (LBP) and Speeded Up Robust Features (SURF) are outstanding in extracting speed and illumination invariance. A method of change detection for matched remote sensing image pair is present, which compares the similarity by LBP and SURF to detect the change and unchanged of the block after blocking the image. And region growing is adopted to process the block edge zone. The experiment results show that the method can endure some illumination change and slight texture change of the ground object.