Miracle-dz/UniFAR-FTUs huggingface dataset:
Haptics in robotics and automotive systems

Haptics is the science of applying touch (tactile) sensation and control to interaction with computer applications. The devices used to interact with computer applications are known as haptic interfaces. These devices sense some form of human movement, be it finger, head, hand or body movement and receive feedback from computer applications in form of felt sensations to the limbs or other parts of the human body. Examples of haptic interfaces range from force feedback joysticks/controllers in video game consoles to teleoperative surgery. This thesis deals with haptic interfaces involving hand movements. The first experiment involves using the end effector of a robotic manipulator as an interactive device to aid patients with deficits in the upper extremities in passive resistance therapy using novel path planning. The second experiment involves the application of haptic technology to the human-vehicle interface in a steer-by-wire transportation system using adaptive control.
Corrigendum for “Skyglow extends into the world’s Key Biodiversity Areas”

In Garrett et al. (2019), we reported the results of an analysis of the extent to which, at a global scale, Key Biodiversity Areas (KBAs) experienced skyglow and some of the factors associated with variation in this extent. Unfortunately, in the course of this analysis, an erroneous interpretation was made of the skyglow data used (Falchi et al., 2016). This dataset provides measures of artificial brightness levels (mcd/ m), not ratios of artificial brightness to natural brightness as previously reported. We repeated our analysis using the level of artificial brightness under which a sky can be considered ‘pristine’ as up to 1% above the natural background level (ratio of 0.01; artificial brightness = 0.0017 mcd/m), and a level of 8% or more above natural conditions (ratio of 0.08; artificial brightness = 0.014 mcd/m) to indicate that light pollution extends from the horizon to the zenith and the entire sky can be considered polluted (Falchi et al., 2016). In our initial statistical modelling, human population density was categorized on a log scale (0–1 people per sq km, >1– 10, >10–100, >100–1000 and >1000) (Garrett et al. 2019). However, this now resulted in a very low sample size for those areas with pristine status in the category >1000 (n = 4). In our updated analyses, we use human population density as a continuous predictor, after applying a numerical log10 transformation to account for the skew and enable robust analysis. The general conclusions and findings of the original analysis remain unaffected. However, the degree of skyglow experienced by KBAs had been initially underestimated. Critically, the re-analysis revealed that less than one fifth have completely pristine nighttime skies, more than twothirds lie entirely under artificially bright skies (not pristine), and only about a third have nighttime skies no part of which is polluted to the zenith. Details of the findings from the reanalysis are as follows, followed by the corrected versions of Figures 1, 2, 3, and 4, and Table 1:
Cockpit Technology for the Prevention of General Aviation Cockpit Technology for the Prevention of General Aviation Runway Incursions Runway Incursions

General aviation accounted for 74 percent of runway incursions but only 57 percent of the operations during the four-year period from fiscal year (FY) 2001 through FY2004. Elements of the NASA Runway Incursion Prevention System were adapted and tested for general aviation aircraft. Sixteen General Aviation pilots, of varying levels of certification and amount of experience, participated in a piloted simulation study to evaluate the system for prevention of general aviation runway incursions compared to existing moving map displays. Pilots flew numerous complex, high workload approaches under varying weather and visibility conditions. A rare-event runway incursion scenario was presented, unbeknownst to the pilots, which represented a typical runway incursion situation. The results validated the efficacy and safety need for a runway incursion prevention system for general aviation aircraft.
A New Method for Unconstrained Pulse Arrival Time (PAT) Measurement on a Chair

A new method of measuring pulse arrival time (PAT), which is usually used for the estimation of systolic blood pressure, in an unconstrained manner using a chair, is proposed. The capacitive-coupled ECG (CC-ECG) measurement system and the air cushion with balancing tubes system were used for unconstrained PAT measurement. Firstly, the correlation between the standard PAT (S-PAT) from the photoplethysmography (PPG) and the PAT measured in an unconstrained manner (U-PAT) was evaluated. It was observed that U-PAT, which is the time delay from the R-peak of ECG to the steepest decent point of air cushion pressure wave, is significantly correlated with the S-PAT. Secondly, systolic blood pressure (SBP) measured by the radial tonometer is compared to the U-PAT. The ten-beat averaged U-PAT removed respiration effects and demonstrated a high intra-subject correlation with SBP in all participants. Finally, the tonometry SBP was estimated from these U-PAT values for one participant intermittently during half a day.
International Comparison of Local Currency Effects on Stock Market Volatility Asymmetry in Asian Markets

The aim of the paper is to study the effect of currency exchange rate changes on the stock market volatility asymmetry, based on the 14 country sample of Asian markets. We calculate time series of stock market volatility asymmetry using APARCH model and using both local currency returns and the USD returns to compare the results. We find that the effect from the exchange rates to the equity market volatility asymmetry is statistically not significant but short periods exist when currency rates can affect equity market volatility asymmetry.
Prediction of the Number of Defects in Image Sensors by VM Using Equipment QC Data

This paper describes methods and evaluation results of predicting the number of defects in image sensors using equipment QC data. Virtual metrology (VM) models are mainly used for measurable values such as dimensions and electrical characteristics. Herein, to predict countable values, we used a regression tree and stepwise AIC for variable selection as well as the “hockey-stick regression model” and generalized linear model for regression, instead of the partial least squares (PLS) regression. The results showed an improved prediction performance in comparison with the conventional method. This method can be used to predict other countable values such as defects or dust particles.
Indoor Localization Scheme of a Mobile Robot Applying REID Technology

Recently, with the development of service robots and with the new concept of ubiquitous world, the position estimation of mobile objects has been raised to an important problem. As pre-liminary research results, some of the localization schemes are introduced, which provide the relative location of the moving objects subjected to accumulated errors. To implement a real time localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed in this paper. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter: 1. The RFID receiver gets the synchronization signal from the mobile robot and 2. The ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from. Three beacons and the absolute position information of the beacons themselves. In some case, the mobile robot can get the ultrasonic signals from only one or two beacons, because of the obstacles located along the moving path. Therefore, in this paper, as one of our dedicated contribution, the position estimation scheme with less than three sensors has been developed. Also, the extended Kalman filter algorithm is applied for the improvement of position estimation accuracy of the mobile robot.
BALANÇO HÍDRICO COM CAPACIDADE DE CAMPO DIFERENCIADA EM SÃO BENTO DO UNA – PE: UMA CONTRIBUIÇÃO PARA CRISE HIDRICA

As informações climáticas de determinada região são necessárias para que se possa estabelecer estratégias que visem o manejo mais adequado dos recursos naturais. Através do Balanço Hídrico é possível determinar as localidades que apresentam déficit ou excesso hídrico, utilizando-se as variáveis precipitação e evapotranspiração. A proeminência do computo do balanço hídrico com capacidade de campo, diferenciada para a cidade de São Bento do Una, está pautada na importância que a água tem para a sobrevivência da atividade agropecuária e avícola. Utilizou-se dados pluviais e térmicos compreendidos entre 1920 e 2016 para a realização do cálculo do balanço hídrico. A realização do computo se deu pelo modelo de Thornthwaite e Mather em planilhas eletrônicas. Com índice pluvial anual de 606 mm e térmico de 22°C, resultou-se em uma entrada d’água em menor quantidade e uma saída mais elevada decorrente do maior poder evaporativo, acarretando déficit hídrico climatológico, impactando com secas e processo de desertificação, o que pode acarretar prejuízos para a avicultura, a agropecuária, o armazenamento, represamento d’água e a economia local.
Genetic Algorithm Approaches for Actuator Placement

This research investigated genetic algorithm approaches for smart actuator placement to provide aircraft maneuverability without requiring hinged flaps or other control surfaces. The effort supported goals of the Multidisciplinary Design Optimization focus efforts in NASA's Aircraft au program. This work helped to properly identify various aspects of the genetic algorithm operators and parameters that allow for placement of discrete control actuators/effectors. An improved problem definition, including better definition of the objective function and constraints, resulted from this research effort. The work conducted for this research used a geometrically simple wing model; however, an increasing number of potential actuator placement locations were incorporated to illustrate the ability of the GA to determine promising actuator placement arrangements. This effort's major result is a useful genetic algorithm-based approach to assist in the discrete actuator/effector placement problem.
Simulation of Sound Wave Propagation in Presence of Noise Barrier by using the Partition of Unity Finite Elements Method: a comparison with analytical methods in 2D cases

Many of the analytical analyses carried out to estimate the attenuation due to the presence of a noise barrier are based on the Maekawa’s calculation method. Maekawa established an empirical curve to predict the insertion loss behind barriers. However this model presents some limitations which do not allow taking the actual conditions of propagation into account. In this paper, a generalized Finite Element Method based on the Partition of Unity Method extended to infinite domain is presented for the simulation of the sound wave propagation in case of noise barrier. Comparisons between the results by this method and others with Maekawa’s method and more accurate prediction methods, like Kurze-Anderson’s model will be presented at ISMA 2010. The final aim of the study is to provide a more efficient prediction model for noise barrier design.
Wideband modelling and parameter estimation of two-winding transformers

This dissertation proposes a new wideband, lumped-parameter equivalent-circuit transformer model that is suitable for parameter estimation applications, while reflecting the internal electromagnetic behaviour of the transformer in its structure. Frequency-dependence of the resistive and inductive model elements is investigated experimentally and provision is made for these effects in the model structure. A procedure by which the parameters of the proposed model structure can be estimated directly from terminal frequency response measurements is developed and applied to a 16 k VA, 22 kV / 220 V single-phase distri bution transformer and a 11kV/110 V single-phase voltage transformer. The transformer model is validated by applying it to frequency-domain and timedomain simulations in the frequency range between 10 Hz and 100 kHz. The results show that the proposed model is able to accurately predict transformer responses in this frequency range, including all prominent winding resonances. The physical significance of the model structure is validated by comparing the frequency response of the voltage induced in a search coil around the core of the 11 kV / 110 V voltage transformer to the magnetizing branch voltage predicted by the model. From this comparison it could be concluded that the proposed transformer model correctly represents the magnetic coupling between the transformer windings.
Low-Power FPGA Architecture Based Monitoring Applications in Precision Agriculture

Today’s on-chip systems technology has grounded impressive advances in computing power and energy consumption. The choice of the right architecture depends on the application. In our case, we were studying vegetation monitoring algorithms in precision agriculture. This study presents a system based on a monitoring algorithm for agricultural fields, an electronic architecture based on a CPU-FPGA SoC system and the OpenCL parallel programming paradigm. We focused our study on our own dataset of agricultural fields to validate the results. The fields studied in our case are in the Guelmin-Oued noun region in the south of Morocco. These fields are divided into two areas, with a total surface of 3.44 Ha2 for the first field and 3.73 Ha2 for the second. The images were collected using a DJI-type unmanned aerial vehicle and an RGB camera. Performance evaluation showed that the system could process up to 86 fps versus 12 fps or 20 fps in C/C++ and OpenMP implementations, respectively. Software optimizations have increased the performance to 107 fps, which meets real-time constraints.
Problems and solutions in measurements of engineering objects by means of digital image correlation

In the paper we present different problems which may occur during measurements of displacements/strains and shape of engineering objects including the necessity of recalculating of coordinates of measurement results and performing measurements in climate chambers. The first example refers to metal plates segments that are objects of complex geometry and are di cult to be measured with a single 3D DIC setup from only one direction, the second one is a composite cylindrical container with programmed faults, while the third one is a mirror subjected to thermal load in a climate chamber. Presented applications shows a flexibility of the method in different measurements tasks, however in each of these cases, an individual approach to experiment preparation and planning was required.
Safety and Effectiveness of an Investigational Insulin Delivery Device Providing Basal/Bolus Therapy with Rapid-Acting or Regular Human Insulin in Adults with Type 2 Diabetes

Background: This study undertook to assess usability, 24-h glycemic profiles, and safety of an investigational basal/bolus insulin delivery device (IDD) providing rapid-acting or regular human insulin (RHI) for people with type 2 diabetes (T2D) transitioning from multiple daily insulin injections (MDIs). Methods: This prospective, single-center, open-label two-period study enrolled adults with T2D and glycated hemoglobin (HbA1c) 7%–11% (53–97 mmol/M). Participants continued the usual MDI therapy during a 2- to 3-day in-clinic MDI period and then within 7 days were switched to the IDD, using current insulin dose, for a 6-day in-clinic IDD period, with blinded continuous glucose monitoring throughout the in-clinic periods. Results: We enrolled 21 participants (mean ± standard deviation age 57 ± 8 years; HbA1c 8.2% ± 0.9% [66 ± 9.8 mmol/M]) using U-100 insulin lispro (n = 11) or who switched to U-100 RHI (n = 10). Glycemic measures improved from the MDI to IDD period, including fasting blood glucose (BG), 141.2 ± 38.3 mg/dL (7.8 ± 2.1 mmol/L) versus 121.2 ± 35.0 mg/dL (6.7 ± 1.9 mmol/L; P = 0.002), respectively; 24-h mean BG, 137.0 ± 20.5 mg/dL (7.6 ± 1.1 mmol/L) versus 125.0 ± 16.5 mg/dL (6.9 ± 0.9 mmol/L; P = 0.004); and time in range (at 70–180 mg/dL; 3.9–10 mmol/L), 81.0% ± 14.4% versus 87.5% ± 10.6% (P = 0.008). No significant differences between MDIs and IDD use were recorded for time <70 mg/dL (1.6% ± 2.7% vs. 3.1% ± 2.7%, P = 0.08), CV%, or mean of daily differences. Mean amplitude of glycemic excursions was significantly lower with the IDD (P = 0.011). There were no significant differences between insulin lispro and RHI for any glycemic measure. No serious adverse events were recorded. Conclusions: In the context of this exploratory study, the IDD was safe and effective to administer insulin lispro and RHI for adults with T2D.
Anaerobic Cellulolytic Microbial Communities From Various Sources Of Inocula Under Various Culture Conditions

To date studies focusing on microbial cellulose hydrolysis have focused on pure cultures such as Clostridium themocellum, or isolated environmental cellulolytic strains. Microbial communities fed with crystalline cellulose were cultivated in continuous culture, and optimal growth conditions and culture approaches have been investigated Inocula from different environments were tested to determine microbial cellulose hydrolysis and growth, as well as the effect of temperature and media composition. Differences in microbial hydrolysis existed not only between sources of inocula, but within inocula themselves. It was found that microbial consortia cultured from direct environmental inocula had more robust microbial activity than enriched inocula. Cultures grown at 60℃ showed higher biomass-specific cellulose hydrolysis, resulting in more efficient cellulose hydrolysis. This study provides evidence of differences in sources of inocula for the culture of cellulolytic consortia, and suggests culture approaches for the further study of possible applications of microbial consortia in bioprocessing technology.
Improvement to Airport Throughput Using Intelligent Arrival Scheduling and an Expanded Planning Horizon

The first phase of this study investigated the amount of time a flight can be delayed or expedited within the Terminal Airspace using only speed changes. The Arrival Capacity Calculator analysis tool was used to predict the time adjustment envelope for standard descent arrivals and then for CDA arrivals. Results ranged from 0.77 to 5.38 minutes. STAR routes were configured for the ACES simulation, and a validation of the ACC results was conducted comparing the maximum predicted time adjustments to those seen in ACES. The final phase investigated full runway-to-runway trajectories using ACES. The radial distance used by the arrival scheduler was incrementally increased from 50 to 150 nautical miles (nmi). The increased Planning Horizon radii allowed the arrival scheduler to arrange, path stretch, and speed-adjust flights to more fully load the arrival stream. The average throughput for the high volume portion of the day increased from 30 aircraft per runway for the 50 nmi radius to 40 aircraft per runway for the 150 nmi radius for a traffic set representative of high volume 2018. The recommended radius for the arrival scheduler s Planning Horizon was found to be 130 nmi, which allowed more than 95% loading of the arrival stream.
Space Station multidisciplinary analysis capability - IDEAS2

A computer-aided engineering tool now in use at NASA for systems engineering and integration analysis of the Space Station is described. This tool, called IDEAS2, combines the spacecraft-specific analysis software from NASA IDEAS (truss synthesizer, rigid body controls, plume impingement, orbital lifetime, orbit heat loads, and life support systems) with the interactive graphics, geometric database, solids modeler, structural and thermal analysis capability of the SDRC I-DEAS to obtain an integrated package suitable for Space Station design. This integrated package was applied to a very recent study of growth scenarios of the Space Station dual keel configuration, in which a comparison was made between designs using a combination of photovoltaic solar arrays and solar dynamic collectors, and those using only solar dynamic collectors.
Normalization

Focusing on the 2004 and 2007 Eastern enlargement of the European Union, this chapter traces the ‘normalization’ of differentiated integration after new countries become member states. The chapter explains pre-accession tensions between demands of member states to limit the membership benefits of the applicant countries, and demands of the applicants to help them deal with the burdens of joining a competitive European market. It also explores the post-accession process in which new member states are in a better position to avoid discriminatory differentiation but still have to cope with the repercussions of accession differentiation. The empirical analysis shows that almost all accession differentiation—both preferential and discriminatory—disappears within ten to fifteen years of membership.
Grid synchronisation of VSC-HVDC system

This thesis investigates issues affecting grid synchronisation of VSC-HVDC systems with particular regard to, but not limited to, offshore wind power generation during the complex but potentially serious behaviours following solar storms. An averaged value model (AVM) for the contemporary modular multilevel converter (MMC) based VSC-HVDC system is developed and is used in combination with different phase-locked loop (PLL) models and the unified magnetic equivalent circuit (UMEC) transformer model to assess the impacts of geomagnetically induced current (GIC) on grid synchronisation of an offshore VSC-HVDC system. GIC is DC current flowing in the earth caused by strong geomagnetic disturbance events. GIC enters the electric utility grid via the grounded transformer neutral and can cause severe saturation to transformers. This in turn causes disruptions to grid synchronisation. The main contribution of this thesis is that effects of GIC are studied using the UMEC transformer model, which can model saturation. The assessment leads to the development of enhanced fundamental positive sequence control (EFPSC) which is capable of reducing the stress on the system during GIC events. The methods developed can also be applied to other non-symmetrical AC events occurring in VSC-HVDC such as single-phase faults.Additional contributions of the thesis are:A mathematical model of the MMC is derived and forms the foundation of the AVM. The AVM is verified against a detailed equivalent-circuit-based model and shows good accuracy. The PLL is the essential component for grid synchronisation of VSC-HVDC system. Different PLLs are studied in detail. Their performance is compared both qualitatively and quantitatively. This appears to have been done for the first time systematically in the public literature. The UMEC model is verified using hand calculation. Its saturation characteristic is matched to a predefined B-H curve and is also verified. The verifications show that this model is capable of modelling transformer saturation and thus is suitable for this study.The consolidation of the AVM, PLL, UMEC, GIC and EFPSC provides an insight into the how the MMC based VSC-HVDC system behaves under severe geomagnetic disturbances and the possible methods to mitigate the risks and impacts to the power grid.