Miracle-dz/UniFAR-FTUs huggingface dataset:
Combining visual and force feedback for the precise robotic manipulation of bulky components

The increasing request of flexible robotic applications asks for systems more capable in perceiving and interacting with the environment, to adapt the robot behavior to possible changes. The challenge is the easy design of the robotic system around the application. This becomes crucial in particular when the objects to be manipulated are bulky, and the relative positions between the robot and the objects to be manipulated are uncertain and high precision is required to successfully complete a task. In this paper a possible guideline to design a system capable to localize itself, identify a target, bulky, object and manipulate it, is presented. Vision systems techniques and technologies are briefly analyzed in order to select the most suitable solution under restrictive constraints. The objects considered for this approach are indeed bulky, texture-less, without strong geometrical features, with uncertain positions and rotations in the 3D space and strict accuracy tolerances. Since the presented work involves object manipulation and assembly, also force feedback is necessary when interaction is involved. This allows the robot to perceive the interacting environment through touch and avoid possibly dangerous huge forces exchange. With this purpose, a method for tuning the impedance control parameters is derived, to keep interaction forces below maximum allowed values. The autonomous localization, grasping and assembly of a sidewall panel of an airplane is used as test. Such scenario involves different challenges for both the vision system and the manipulation, indeed the environment is very narrow and cluttered, lighting is variable, assembly tolerances are very tight (10 mm) considering huge objects (1000x1500 mm). Experiments show that the success rate of completing a task increases, combining vision perception and force control, with respect to the single use of visual localization and position control. The coupled action of these two techniques makes the entire application more reliable.
Polyphase Taxonomy of Antarctic Bacteria

The phylogenetic structure of bacteria is not always consistent with the traditional classification scheme based on the phenotypic properties of bacteria. That is one of the problems of modern bacterial taxonomy. In addition, traditional methods to identify bacteria using phenotypic properties have a number of disadvantages. In recent decades, significant progress was achieved in the investigation of microbial world using molecular methods for fast identification. The aim of the study was to clarify the species status of four strains of bacteria isolated from black lichens of the cliffs of Galindez Island in the Antarctic on the basis of phenotypic and genetic analysis. Methods. Morphological and cultural properties of bacteria were studied according to generally accepted microbiological methods. Physiological and biochemical ones were investigated using test systems API Coryne and API 20E (bioMerieux SA, France), according to the manufacturer’s instructions. Phylogenetic analysis was performed based on the nucleotide sequences of the 16S rRNA gene. To identify closely related species, a comparative analysis of the nucleotide sequences of 16S rRNA genes was performed using the BLAST software package. The phylogenetic position was determined by constructing trees (dendrograms) to show the position of the studied strains among closely related and typical species (programs ClustalX 2.1, Mega 6.06). The tree was constructed applying ClustalX 2.1 by comparing the nearest neighbors with bootstrap analysis (bootstrap NJ tree) using 1000 bootstrap tests (1000 alternative trees). Then the phylogenetic tree was edited by the program Mega v. 6.00. Results. Based on the results of comparative, phylogenetic and phenotypic analysis, the studied Antarctic strains 180n1, 181n2, 188n2, 190n2 were identified as Pseudomonas fluorescens, Microbacterium foliorum, Sporosarcina aquimarina and Rothia sp. , respectively. The coefficient of similarity of 16S rRNA genes of strain 180n1 with such a closely related species from the database P. fluorescens NBRC 14160 was 99.5%; 181n2 with M. foliorum P 333/02 – 99.4%; 188n2 with S. aquimarina SW28 – 99.7%. These strains form common clusters with closely related species on phylogenetic dendrograms. The strain 190n2 can be considered as Rothia sp. , since has the remote position from closely related strains in the cluster Rothia and a low percentage of similarity (97.3%) with the species Rothia endophytica YIM 67072. These strains belong to the phyla: Firmicutes, Actinobacteria, Proteobacteria. Conclusions. Phylogenetic and phenotypic analyzes allowed determining the taxonomic position of isolated aerobic chemoorganotrophic microbial strains of the Antarctic. Nucleotide sequences of 16S rRNA genes are deposited in the International GenBank database under numbers HG518622, HG518623, HG518625, HG518626.
Relationships between plant–soil feedbacks and functional traits

Plant–soil feedbacks (PSF) and functional traits are two active but not well theoretically integrated areas of research. However, PSF and traits are both affected by life‐history evolution, so the two should theoretically be related. We provide a conceptual framework to link plant functional traits to two types of PSF metrics, and hypothesize that individual PSF (plant performance in conspecific vs. heterospecific soil) should be related to the fast–slow trait spectrum, whereas pairwise PSF (the sum of the individual feedbacks for two species growing in each other's soils) should be related to trait dissimilarity. We performed meta‐analyses to test these hypotheses by compiling two datasets, one dataset consisting of individual PSF values and plant trait values (specific leaf area, SLA; leaf N concentration, LNC; specific root length, SRL; fine root diameter, FRD; plant height; seed mass), and the second consisting of pairwise PSF values and trait dissimilarity. Our meta‐analyses showed that individual PSF values were more negative in faster‐growing species with greater SLA, LNC and SRL, supporting the growth–defence trade‐off hypothesis. Plant height was positively correlated with individual PSF, perhaps because large, long‐lived plants defend against pathogens better than smaller, shorter‐lived plants. We also found that larger‐seeded species had more positive or less negative PSF, likely reflecting greater tolerance of soil pathogens. The direction of relationships between trait dissimilarity and pairwise PSF varied with trait identity. Dissimilarities in SRL and FRD were negatively correlated with pairwise PSF while height dissimilarity was positively correlated with pairwise PSF. The contrasting relationships may reflect distinct links between trait dissimilarity and niche and fitness differences. Synthesis. Our results demonstrate how an integration of PSF and trait‐based approaches can advance plant community ecology.
A Parametric Study on a Dental Implant Geometry Influence on Bone Remodelling through a Numerical Algorithm

To ensure the long-term success of a dental implant, it is imperative to understand how chewing loads are transferred through the implant prosthetic components to the surrounding bone tissue. The stress distribution depends on several factors, such as load type, bone–implant interface, shape and materials of the fixture and quality and quantity of the bone. These aspects are of fundamental importance to ensure implant stability and to evaluate the remodelling capacity of the bone tissue to adapt to its biomechanical environment. A bone remodelling algorithm was formulated by the authors and implemented by means of finite element simulations on four different implants with several design characteristics. Internal bone microstructure and density, apposition/resorption of tissue and implant stability were evaluated over a period of 12 months, showing the influence of the geometry on bone tissue evolution over time. Bone remodelling algorithms may be a useful aid for clinicians to prevent possible implant failures and define an adequate implant prosthetic rehabilitation for each patient. In this work, for the first time, external bone remodelling was numerically predicted over time.
High Cure Rates for Hepatitis C Virus Genotype 6 in Advanced Liver Fibrosis With 12 Weeks Sofosbuvir and Daclatasvir: The Vietnam SEARCH Study

Abstract Background Genotype 6 is the most genetically diverse lineage of hepatitis C virus, and it predominates in Vietnam. It can be treated with sofosbuvir with daclatasvir (SOF/DCV), the least expensive treatment combination globally. In regional guidelines, longer treatment durations of SOF/DCV (24 weeks) are recommended for cirrhotic individuals, compared with other pangenotypic regimens (12 weeks), based on sparse data. Early on-treatment virological response may offer means of reducing length and cost of therapy in patients with liver fibrosis. Methods In this prospective trial in Vietnam, genotype 6-infected adults with advanced liver fibrosis or compensated cirrhosis were treated with SOF/DCV. Day 14 viral load was used to guide duration of therapy: participants with viral load <500 IU/mL at day 14 were treated with 12 weeks of SOF/DCV and those ≥500 IU/mL received 24 weeks. Primary endpoint was sustained virological response (SVR). Results Of 41 individuals with advanced fibrosis or compensated cirrhosis who commenced treatment, 51% had genotype 6a and 34% had 6e. The remainder had 6h, 6k, 6l, or 6o. One hundred percent had viral load <500 IU/mL by day 14, meaning that all received 12 weeks of SOF/DCV. One hundred percent achieved SVR12 despite a high frequency of putative NS5A inhibitor resistance-associated substitutions at baseline. Conclusions Prescribing 12 weeks of SOF/DCV results in excellent cure rates in this population. These data support the removal of costly genotyping in countries where genotype 3 prevalence is <5%, in keeping with World Health Organization guidelines. NS5A resistance-associated mutations in isolation do not affect efficacy of SOF/DCV therapy. Wider evaluation of response-guided therapy is warranted.
International Publication Trends in Low Back Pain Research: A Bibliometric and Visualization Analysis

Background Although there is a growing research base on low back pain, the bibliometric literature related to it is deficient. The aim of this study was to conduct a bibliometric and visualization analysis of low back pain and to provide a broad view of the current trends in LBP research and a potential guide in this discipline. Methods The authors searched the Web of Science to extract publications regarding low back pain, and found a total of 12,249 publications during a period of 22 years, among which 12,242 were eligible. We classified and analyzed publications such as total citations, average citations per item, H-index, research types, countries/regions, institutions, and journals using standard bibliometric indicators. Bibliometric approaches (VOSviewer1.6.13 and CiteSpace 5.8.3) were also available for gathering information and explore the trends of research. Results Conspicuously, over the past 22 years, an increasing number of scholars have specialized in the research of LBP, exerting the boom in articles. The largest number of document type was that of articles. Under modern conditions, regional distinction existed in the research of low back pain and developed countries preceded others. Research individuals and institutions were preoccupied by respective aspects. Visualization analysis provided objective information for potential collaborators and cooperative institutions. Furthermore, most burst keywords varied during different periods. Conclusions The map of research on LBP obtained by our analysis is expected to help researchers to efficiently and effectively explore LBP.
Super-bureaucracy in climate adaptation governance in Bangladesh

ABSTRACT State bureaucratic settings and associated governance patterns have an enormous impact on the planning and implementation of a country's climate development policy. Contextually, a typical superior bureaucratic framework with its decision-making power centred on climate adaptation projects funding prevails in Bangladesh. This paper deploys the concepts of Weberian bureaucracy and super-bureaucracy and its governance pattern to explore the power attributes of climate bureaus and associated bureaucratic practices and decision-making behaviour regarding adaptation funding in climate adaptation governance. The study employs all climate adaptation development projects (n = 573) financing in Bangladesh. The analysis finds that the general administration cadre employees rather than technical professionals are involved in multiple decision-making processes, including appraisal and approval and monitoring and evaluating projects holding powerful pivotal positions both centrally and locally. These super bureaus also expand their power resources in climate adaptation policy by governing big adaptation projects, keeping the project director position, and approving the said position. The power capabilities and interests of the super-bureaus accrue by creating new climate institutions too. The decision-making behaviour and governance pattern underpin a state of super-bureaucracy, which are not supportive enough of innovative policy-making through inclusive participation and collective decision-making for governing dynamic climate adaptation policy.
A 1V 3.5 μW Bio-AFE With Chopper-Capacitor-Chopper Integrator-Based DSL and Low Power GM-C Filter

This brief presents a low-noise, low-power bio-signal acquisition analog front-end (Bio-AFE). It mainly includes a capacitively coupled chopper-stabilized instrumentation amplifier (CCIA), a programmable gain amplifier (PGA), a low-pass filter (LPF), and a successive approximation analog to digital converter (SAR ADC). A chopper-capacitor-chopper integrator based DC servo loop (C<sup>3</sup>IB-DSL) to suppress the electrode DC offset (EDO) with low noise, low process-voltage–temperature (PVT) sensitivity is proposed. Besides, a low power GM-C filter of which the input linear range is extended via inverse hyperbolic tangent pre-distortion circuit is proposed to filter out the spikes, ripples, and high frequency noise in front end. A capacitive feedback PGA is employed to realize a tunable gain of the front end. And a low power SAR ADC is applied to quantify the acquired bio-signal. The proposed analog front end has been fabricated in a <inline-formula> <tex-math notation="LaTeX">$0.18\boldsymbol{\mu }\text{m}$ </tex-math></inline-formula> CMOS process with an area of 0.57mm<sup>2</sup>, consuming <inline-formula> <tex-math notation="LaTeX">$3.5~\boldsymbol{\mu }\text{A}$ </tex-math></inline-formula> from a 1V supply voltage. It achieves an integral noise from 0.5 to 100 Hz of <inline-formula> <tex-math notation="LaTeX">$1.16\boldsymbol{\mu }\text{V}_{\mathrm{ rms}}$ </tex-math></inline-formula>, ±90mV EDO cancellation range, an ADC effective number of 9.06 bit, and the −59.6 dB total harmonic distortion (THD) of total AFE.
Timely loss recognition in Brazilian firms under corruption investigation

This article evaluates the impact of the disclosure of the participation of Brazilian firms listed on the Bolsa Brasil Balcão (B3) in corruption scandals through media scrutiny and by disclosure of independent auditors on the quality of accounting information, measured from the perspective of accounting conservatism. We examine the possible theoretical link between the disclosure of corruption scandals and the quality of accounting information in the Brazilian context. Brazil has gone through successive corruption scandals involving firms and government entities in different levels. Accounting can be an important tool to mitigate said risks based on the artifacts it has to inform key stakeholders. However, it is necessary to identify the extent to which these artifacts can be influenced by the actors involved in these scandals. The research places accounting as an instrument subject to pressures from different interests and that may be shaped to them. Although accounting is an instrument that must aim to reduce information asymmetry, preventing the harmful effects of corruption, in specific contexts, it can be used in the opposite direction, such as in cases of corruption and economic crises. We used the model based on Ball and Shivakumar (2005) with specific modeling characteristics for corruption and crisis. The models were estimated using the Stata 13 software using the pooled approach using the Ordinary Least Squares (OLS) estimation method, clustered by year and economic sector, and the Generalized Least Squares (GSL) estimator. The results point to the presence of conservatism when disclosing involvement in investigations of corruption crimes in Brazil. This behavior was less intense in firms effectively mentioned in these events. These results highlight the relevance of studies aimed at clarifying the connections between corruption and accounting reports, enabling the development of measures to curb corruption in the business environment.
A 17.5dB wide-dynamic range high-efficiency RF-to-DC power converter for wireless energy harvesting

ABSTRACT A novel reconfigurable RF-to-DC power converter is proposed for wireless energy harvesting. The proposed RF rectifier employs low-threshold transistors with cross-coupled configuration to enhance the flow of the forward current to the load at low input RF power and adaptive stacking diodes to reduce the leakage current by lowering the driving voltage of the rectifying PMOS transistors at high input RF power. The proposed rectifier utilises the body biasing technique to modulate the threshold voltage and minimises the leakage current of the feedback diodes. The proposed novel techniques improve efficiency and extend the dynamic range. The prototype is implemented in a 65 nm CMOS technology and occupies an active area of 0.0148 mm2. The proposed rectifier achieves a peak power conversion efficiency (PCE) of 76% with a load of a 100-KΩ load at the industrial, scientific, and medical band 433 MHz, and the achieved sensitivity of the rectifier is −18.5 dBm for 1 V DC output voltage. The proposed rectifier offers PCE at −35 dBm of 45.6%, which is the best low-power performance. Compared to the state-of-the-art rectifiers, the proposed design achieves an excellent wide-dynamic range of 17.5 dB, which is ten times better than the conventional cross-coupled rectifier.
Investigation of problematic internet use behaviors of athletes in terms of personality traits

Abstract The aim of study is to reveal the relationship between the personality traits of athletes and problematic internet use (PIU), and in this way, to reveal which personality traits athletes tend to PIU. A total of 428 athletes, 204 (47.7%) males and 224 (52.3%) females, who were engaged in amateur and professional level sports in various sports clubs, participated in the study. “Internet Addiction Scale” was used to determine the PIU status of the participants and “Five Factor Model of Personality Scale” was used to determine the personality characteristics. The stepwise regression method was used to determine the level of predicting PIU of personality traits. As a result of the analyzes, it was determined to what extent the variables of extraversion, agreeableness, conscientiousness, neuroticism, openness, and gender predicted PIU and as a result of this process, R = . 798, R2 = . 637. As a result, it was seen that 63.7% of the total variance in the PIU of the athletes was explained by the personality traits.
Multi-View Learning Via Low-Rank Tensor Optimization

In tensor-based multi-view learning methods, the self-representation based subspace clustering is widely researched, which is effective but heavy in high computational complexity. Furthermore, most of approaches learn the low-rank tensor representation and the final affinity matrix separately and ignore the difference between views. In this paper, we construct the target tensor composed of multiple normalized similarity matrices based on the Gaussian kernel function, which is constrained with the t-SVD based tensor nuclear norm to recover the low-rank part. The final affinity matrix is simultaneously learned via weighted multi-view fusion while optimizing the low-rank tensor, which suggests that each view is distributed to an adaptive weight. Moreover, the proposed method can be extended to semi-supervised classification through the collaborative optimization of the similarity tensor and the label indicator matrix. Extensive experiments conducted on four real-world datasets demonstrate the superiority of the proposed method compared with other state-of-the-art methods.
Recovery of gamblers anonymous members under the COVID-19 social distancing policy in South Korea

ABSTRACT People with a gambling problem, especially those participating in Gamblers Anonymous (GA), are likely to suffer under social distancing policies necessitated to curb the spread of COVID-19. Accordingly, this study identified difficulties in recovery conditions and strategies related to GA under the social distancing policy in Korea using a case study approach. Following the case study process, categorical aggregation and direct interpretation were implemented to analyse nine cases, and an integrated main theme, the spontaneous efforts of GA participants to recover under the social distancing policy, was discovered with seven sub-themes. Based on the findings, difficulties, subjectivity, and new recovery strategies of GA participants were identified, and political and practical implications for recovery were drawn.
Neoliberalisation of industrial relations: The ideational development of Dutch employers’ organisations between 1976 and 2019

This article considers the debate about the process of liberalisation of industrial relations from an ideational institutional perspective. While the gradual liberalisation of industrial relations has increased employer discretion, the role of employers’ organisations in this process is unclear. The case study is the Netherlands, a neo-corporatist country described as stable and robust but where institutional outcomes have undergone major shifts. To understand how this happened, the author analysed 40 years of collective bargaining policy using an ideational approach. The article argues that Dutch organised employers had the confidence that the strength of their ideas was enough to gradually but surely change industrial relations within the existing neo-corporatist framework by redefining the role of the firm, the state and the employee in the economy. The article also shows that since the early 2010s Dutch organised employers have changed their strategy leading to further de-collectivisation of industrial relations.