Miracle-dz/UniFAR-FTUs huggingface dataset:
A study on the Modeling of Independently Driven Quadruped Crawler System for Posture Control of Special Purpose Machine for Disaster Response

The crawler-leg mobile system is a sub-mechanism of special purpose machines for the early stage rescue and reconstruction in disaster. This system plays a role in controlling the posture to prevent rollover when the special purpose machine is running on rough terrain. In this paper, a mechanism is introduced for posture control of a crawler-leg mobile system and coordinates for mathematical model is define. Using defined coordinates, a mathematical model based on differential kinematics is proposed for posture control system. The validity of the mathematical model is verified by comparing the results of the proposed mathematical model and the multi body dynamics simulation model. And a mathematical model is proposed for posture control of the crawler-leg mobile system.
Message Format and Field Semantics Inference for Binary Protocols Using Recorded Network Traffic

Protocol specifications describe the interaction between different entities by defining message formats and message processing rules. Having access to such protocol specifications is highly desirable for many tasks, including the analysis of botnets, building honeypots, defining network intrusion detection rules, and fuzz testing protocol implementations. Unfortunately, many protocols of interest are proprietary, and their specifications are not publicly available. Protocol reverse engineering is an approach to reconstruct the specifications of such closed protocols. Protocol reverse engineering can be tedious work if done manually, so prior research focused on automating the reverse engineering process as much as possible. Some approaches rely on access to the protocol implementation, but in many cases, the protocol implementation itself is not available or its license does not permit its use for reverse engineering purposes. Hence, in this paper, we focus on reverse engineering protocol specifications based solely on recorded network traffic. More specifically, we propose a method that can infer protocol message formats as well as certain field semantics for binary protocols from network traces. We demonstrate the usability of our approach by running it on packet captures of two known protocols, Modbus and MQTT, then comparing the inferred specifications to the known specifications of these protocols.
On Local Stereo Matching for High Precision Measurement

Point correspondence matching stands for an important topic in image based 3D measurement, it is still an open problem with many unsolved questions. The proposed matching approach can be divided into two main parts. First th e corresponding candidate pixel is approached by a simple method followed by a refinement step performed by a more complex method with sub-pixel accuracy. Although the second part is computationally expensive compared to the approaching step, it has been decomposed to simultaneously run-able components. Furthermore, it has to be run once for each pixel in contrast to the approaching step. As the results reflect the propose d approach can yield accurate data, which are acceptable by many applications.
On the extraction of wind information from the assimilation of ozone profiles in Météo–France 4-D-Var operational NWP suite

Abstract. By applying four-dimensional variational data-assimilation (4-D-Var) to a combined ozone and dynamics Numerical Weather Prediction model (NWP), ozone observations generate wind increments through the ozone-dynamics coupling. The dynamical impact of Aura/MLS satellite ozone profiles is investigated using Meteo-France operational ARPEGE NWP 4-D-Var assimilation system for a period of 3 months. A data-assimilation procedure has been designed and run on 6-h windows. The procedure includes: (1) 4-D-Var assimilating both ozone and operational NWP standard observations, (2) ARPEGE transporting ozone as a passive-tracer, (3) MOCAGE , the Meteo–France chemistry and transport model re-initializing the ARPEGE ozone background at the beginning time of the assimilation window. Using observation minus forecast statistics, it is found that the ozone assimilation reduces the wind bias in the lower stratosphere. Moreover, the Degrees of Freedom for Signal diagnostics show that the MLS data covering the 68.1–31.6 hPa vertical pressure range are the most informative and their information content is nearly of the same order as tropospheric humidity-sensitive radiances. Furthermore, with the help of error variance reduction diagnostics, the ozone contribution to the reduction of the horizontal divergence background-error variance is shown to be better than tropospheric humidity-sensitive radiances.
The Impact of Displacement on Child Health: Evidence from Colombia's DHS 2010

This paper investigates the causal impact of displacement on health outcomes for Colombian children of different age cohorts. It uses the Colombian Demographic and Health Survey 2010, which provides both a number of health outcomes and information about displacement of households. Two different empirical strategies are employed to identify the impact of displacement on child health, namely a linear regression model and propensity score matching. In order to capture different dimensions of health, four health outcomes are used as dependent variables: (i) height-for-age z-scores; (ii) subjective health status; (iii) affiliation to a health insurance; and (iv) having a health problem last month. Overall, a negative relationship between displacement and child health is documented. In line with findings from African and Asian countries, displacement increases the likelihood for malnutrition for young children and primary school children. Moreover, being displaced leads to a lower subjective health status for children from all age cohorts. Yet, displaced children are not affected by health problems significantly more often than non-displaced children. Last, but not least, displaced children from all age cohorts are significantly less likely to have health insurance.
Projections of future water resources and their uncertainty in a glacierized catchment in the Swiss Alps and the subsequent effects on hydropower production during the 21st century

Hydropower accounts for about 20% of the worldwide electrical power production. In mountainous regions this ratio is significantly higher. In this study we present how future projected climatic forcing, as described in regional climate models (RCMs), will affect water resources and subsequently hydropower production in downstream hydropower plants in a glacierized alpine valley (Vispa valley, Switzerland, 778 km2). In order to estimate future runoff generation and hydropower production, we used error‐corrected and downscaled climate scenarios from regional climate models (RCMs) as well as glacier retreat projections from a dynamic glacier model and coupled them to a physically based hydrological model. Furthermore, we implemented all relevant hydropower operational rules in the hydrological model to estimate future hydropower production based on the runoff projections. The uncertainty of each modeling component (climate projections, glacier retreat, and hydrological projection) and the resulting propagation of uncertainty to the projected future water availability for energy production were assessed using an analysis of variance. While the uncertainty of the projections is considerable, the consistent trends observed in all projections indicate significant changes to the current situation. The model results indicate that future melt‐ and rainfall‐runoff will increase during spring but decline during summer. The study concludes by outlining the most relevant expected changes for hydropower operations.
Spectral-method algorithm for modeling dispersion of acoustic modes in elastic cylindrical structures

A new spectral-method algorithm can be used to study wave propagation in cylindrically layered fluid and elastic structures. The cylindrical structure is discretized with Chebyshev points in the radial direction, whereas differentiation matrices are used to approximate the differential operators. We express the problem of determining modal dispersions as a generalized eigenvalue problem that can be solved readily for all eigenvalues corresponding to various axial wavenumbers. Modal dispersions of guided modes can then be expressed in terms of axial wavenumbers as a function of frequency. The associated eigenvectors are related to the displacement potentials that can be used to calcu-late radial distributions of modal amplitudes as well as stress components at a given frequency. The workflow includes input parameters and the construction of differentiation matrices and boundary conditions that yield the generalized eigenvalue problem. Results from this algorithm for a fluid-filled borehole surrounded by an.
Serotonergic influence on the levels of prolactin in depressed females

The aim of this study was to evaluate the relationship of serotonin level after treatment with selective serotonin reuptake inhibitors in patients of unipolar depression and influence of serotonin on the secretion of prolactin. Twenty two depressed females of child bearing age, who had come for the first time in the Psychiatry Department were selected for this study. They were subjected to Hamilton rating scale and divided into mild, moderate and severe cases. Their urinary 5-hydroxy tryptamine (5-HT), 5-Hydroxy indole acetic acid (5-HIAA) and serum prolactin levels were estimated before and after 6 weeks of treatment with sero-tonin reuptake inhibitors. The treatment schedule decreased urinary 5-HIAA level signifi-cantly, but there was a non-significant increase in urinary 5-HT. There was also a slight in-crease in serum levels of prolactin. The results suggest that time period required for altera-tion in central neuronal serotonin may be longer than the duration of treatment with sero-tonin reuptake inhibitors.
Education, Gender and Earnings in France and Germany: Level and Dispersion Effects

This paper analyses the relationship between education, gender and earnings in France and Germany. The model chosen here enables to estimate the impact of education not only on the expected earnings level but also on their dispersion, taking gender-specific sample selectivity into account. The results indicate that the completion of a minimum level of general instruction yields an earnings premium that cannot compensated by a vocational degree. Moreover, education affects the uncertainty of earnings. General qualifications are found to increase the earnings risk, vocational one to reduce it. More education, especially tertiary education, yields a high earnings premium but is associated with the highest earnings uncertainty. Women enjoy a higher earnings premium for education than men and though they face overall a higher earnings uncertainty, they can - more than men - reduce this risk by investing in their education.
Energy autonomous eSkin

The energy autonomy is a critical feature that would enable better portability and longer operation times for wearable systems. In the next generation of prosthesis and robotics, the operation of multiple components (from few sensors to millions of electronic devices) distributed along surface of an artificial skin will be a major challenge. In this regard, a compact, light-weight and wearable energy system, consisting of energy generators, energy storage devices and low power electronics, is highly needed. The latest discoveries demonstrated with advanced materials (e.g. nanostructures, thin films, organic materials, etc.) have permitted the development of the lighter and wearable sensors, energy harvesters and energy storage devices. Moreover, new techniques to evade wired connection in robotics/prosthesis by using conformable energy generator and storage systems as well as near-field communication data/energy transmission have opened new technological era. This paper presents the development in the field of self-powered e-skin, particularly focusing on the available energy harvesting technologies, high capacity energy storage devices, and high efficiency and low power sensors. The paper highlights the key challenges, critical design strategies, and most promising materials for the development of an energy-autonomous e-skin for robotics, prosthetics and wearable systems.
Some speculations on pairs-of-pants decompositions and Fukaya categories

These are notes from a 2010 talk. They concern possible ways in which Fukaya categories might be considered as "local", which means glued together from simpler pieces in a loosely sheaf-theoretic sense. As the title suggests, this is purely speculative. Much of the motivation comes from tropical geometry and mirror symmetry.
Transient space-time surface waves characterization using Gabor analysis

Laser ultrasonics allow the observation of transient surface waves along their propagation media and their interaction with encountered objects like cracks, holes, borders. In order to characterize and localize these transient aspects in the Space-Time-Wave number-Frequency domains, the 1D, 2D and 3D Gabor transforms are presented. The Gabor transform enables the identification of several properties of the local wavefronts such as their shape, wavelength, frequency, attenuation, group velocity and the full conversion sequence along propagation. The ability of local properties identification by Gabor transform is illustrated by two experimental studies: Lamb waves generated by an annular source on a circular quartz and Lamb wave interaction with a fluid droplet. In both cases, results obtained with Gabor transform enable ones to identify the observed local waves.
How Should Heavy-Duty Trucks Be Taxed?

This paper develops and implements an analytical framework for estimating optimal taxes on the fuel use and mileage of heavy-duty trucks, accounting for external costs from congestion, accidents, pavement damage, noise, energy security, and local and global pollution. The analysis allows for endogenous fuel economy, increased auto travel (and externalities) in response to reduced truck congestion, and it distinguishes driving by truck type and region. We estimate the optimal (second-best) diesel fuel tax is $1.12 per gallon, and implementing it increases welfare by $1.34 billion per annum. However, optimizing over both fuel and mileage taxes, and differentiating mileage taxes by vehicle type and region, yields progressively higher welfare gains. The most efficient tax structure involves a diesel fuel tax of 69 cents per gallon and charges on trucks that vary between 7 and 20 cents per mile; implementing this tax structure yields welfare gains of $2.06 billion.
A Multiclass BCI using MEG

Classification of MEG brain signals has been used in the past to drive brain-computer interfaces with healthy subjects. We present a multi-class study with offline results. We investigate which combinations of classes are suitable for classification and show that this result is subject-specific, although a general trend to particular combinations of patterns exists. For the current set of offline results, information transfer rate increases in eight of ten subjects going from 2-class to 3-class communication.
A mixed GPC-H infinity robust cascade position-pressure control strategy for electropneumatic cylinders

A robust cascade strategy combining an outer position predictive control loop and an inner H∞ pressure control loop is proposed and tested on an electropneumatic testbed for parallel robotic applications. Two types of cylinders are tested, the standard double acting cylinder and the rodless one. A position/pressure difference (or force) strategy is developed and implemented. As the behavior of the nonlinear cylinders is nonlinear, a feedback linearization strategy is adopted. A Generalized Predictive Controller (GPC) is synthesized for the position outer loop and a constrained LMI based H∞ controller is synthesized for the pressure inner loop. Experimental results show the feasibility of the control strategies and good performances in terms of robustness and dynamic tracking.
Exploring Shear-free Ringlet Formation with Direct Simulations of Saturn's B Rings

In this paper, we study the effect of interparticle cohesion in numerical simulations of Saturn’s main rings. Theoretical studies propose that the irregular structure in Saturn’s rings may arise from alternating “solid” and “liquid” ring material. These studies suggest that for sufficiently high interparticle cohesion, shear-free rings around Saturn may form. We use a highly optimized N-body code that models particle self-gravity, soft-sphere collisions, and interparticle cohesion to simulate a patch of Saturn’s rings with periodic boundaries. We present results for nine different cohesion values ranging from 5.0 × 10−2 to 7.0 Pa, dynamical optical depths of 0.8, 1.4, and 1.8, particle material densities of 0.5 and 1 g cm−3, and restitution coefficients of 0.8 and 0.55. Our simulations show a transition of ring particles forming self-gravity wakes to forming structureless uniform distributions of smaller and faster-moving clumps as cohesion increases. The transition from wakes to structureless form occurs at lower inner-particle cohesion values for higher dynamical optical depth. We present an analysis of the physical optical depth, particle number density, and structure characteristics in the simulations at equilibrium. For high cohesion values, energy injection from differential shear causes transient large structures to rotate and collide at high speed, breaking them apart, ultimately limiting the clump size and frustrating the formation of shear-free zones.
The Impact of Workplace Health Promotion Programs Emphasizing Individual Responsibility on Weight Stigma and Discrimination

Over time, there has been a steady increase of workplace health promotion programs that aim to promote employees' health and fitness. Previous research has focused on such program's effectiveness, cost-savings, and barriers to engaging in workplace health promotion. The present research focuses on a downside of workplace health promotion programs that to date has not been examined before, namely the possibility that they, due to a focus on individual responsibility for one's health, inadvertently facilitate stigmatization and discrimination of people with overweight in the workplace. Study 1 shows that the presence of workplace health promotion programs is associated with increased attributions of weight controllability. Study 2 experimentally demonstrates that workplace health promotion programs emphasizing individual rather than organizational responsibility elicit weight stigma. Study 3, which was pre-registered, showed that workplace health promotion programs emphasizing individual responsibility induced weight-based discrimination in the context of promotion decisions in the workplace. Moreover, focusing on people with obesity who frequently experience weight stigma and discrimination, Study 3 showed that workplace health promotion programs highlighting individual responsibility induced employees with obesity to feel individually responsible for their health, but at the same time made them perceive weight as less controllable. Together, our research identifies workplace health promotion programs as potent catalysts of weight stigma and weight-based discrimination, especially when they emphasize individual responsibility for health outcomes. As such, we offer valuable insights for organizations who aim to design and implement workplace health promotion programs in an inclusive, non-discriminatory way that benefits all employees.
Giant anisotropy in superconducting single crystals of 
CsCa2Fe4As4F2

CsCa$_2$Fe$_4$As$_4$F$_2$ is a newly discovered iron-based superconductor with $T_\mathrm{c}\sim$ 30 K containing double Fe$_2$As$_2$ layers that are separated by insulating Ca$_2$F$_2$ spacer layers. Here we report the transport and magnetization measurements on CsCa$_2$Fe$_4$As$_4$F$_2$ single crystals grown for the first time using the self flux of CsAs. We observed a huge resistivity anisotropy $\rho_c(T)/\rho_{ab}(T)$, which increases with decreasing temperature, from 750 at 300 K to 3150 at 32 K. The $\rho_c(T)$ data exhibit a non-metallic behavior above $\sim$140 K, suggesting an incoherent electronic state at high temperatures due to the dimension crossover. The superconducting onset transition temperature in $\rho_{ab}$ is 0.7 K higher than that in $\rho_c$, suggesting two-dimensional (2D) superconducting fluctuations. The lower and upper critical fields also show an exceptional anisotropy among iron-based superconductors. The $H_{c1}^\bot(T)$ data are well fitted using the model with two $s$-wave-like superconducting gaps, $\Delta_1(0)=6.75$ meV and $\Delta_2(0)=2.32$ meV. The inter-plane coherence length $\xi_c(0)$ is $3.6$ \AA, remarkably smaller than the distance between conducting layers (8.6 \AA), consolidating the 2D nature in the title material.
Hindi Speech Vowel Recognition Using Hidden Markov Model

Vowel recognition is an important step for developing speech recognition system. The aim of this paper is to present Vowel recognition for Hindi language. Phoneme based speech recognition are widely used to overcome vocabulary constraint in developing large vocabulary continuous speech recognition system. Thus there is a need to explore vowel recognition related issues for obtaining better speech recognition results. Experiments were conducted using Connected word Hindi speech corpus for Speaker dependent mode using widely used Hidden Markov Model(HMM) based HTK Tool kit for both training and testing. Hindi Speech Corpus, made of 600 utterances spoken by 5 speakers, was used in this experiment. Mel Frequency Cepstral Coefficients (MFCCs) were used with 5 states monophone HMM model for feature extraction. Speech recognition process heavily depends on spoken language. Different Hindi speech characteristics were explored using formant analysis. Experimental results achieved as average vowel recognition scores of 77.12% for front vowels, 84.4% for middle vowels and 86% back vowels. Average vowel recognition score was achieved was 83.19%. Finally paper concludes with difficulties faced during system development and future development direction.
Rare Case of Giant Asymptomatic Left Coronary Artery Aneurysm of 10 cm Associated with Coronary Cameral Fistula

A giant coronary artery aneurysm (CAA) associated with a coronary cameral fistula is an extremely rare finding. Most cases of CAAs are asymptomatic. The incidence of CAA varies between 0.3% to 5.3%. Due to advancements in diagnostic technologies, the incidence of CAA is on the rise. Even in the modern days of medical science, the clinical course of CAA is still unpredictable and the suitable timing for the treatment of CAA is still open to debate. We reported a case of a giant coronary artery aneurysm in a 38-year-old female, which was 9.4 x 9.7 x 9.2cm in size, arising from the left coronary artery, extending into the proximal circumflex, and draining into the right atrium, forming a fistula tract. The patient was diagnosed with the help of coronary computed tomography (CT) and cardiac catheterization after which surgery was performed to repair the aneurysm and fistula. Postoperatively, the patient recovered without any complication.