Miracle-dz/UniFAR-FTUs huggingface dataset:
Robust trajectory planning for unmanned aerial vehicles in uncertain environments

As unmanned aerial vehicles (UAVs) take on more prominent roles in aerial missions, it becomes necessary to increase the level of autonomy available to them within the mission planner. In order to complete realistic mission scenarios, the UAV must be capable of operating within a complex environment, which may include obstacles and other no-fly zones. Additionally, the UAV must be able to overcome environmental uncertainties such as modeling errors, external disturbances, and an incomplete situational awareness. By utilizing planners which can autonomously navigate within such environments, the cost-effectiveness of UAV missions can be dramatically improved. This thesis develops a UAV trajectory planner to efficiently identify and execute trajectories which are robust to a complex, uncertain environment. This planner, named Efficient RSBK, integrates previous mixed-integer linear programming (MILP) path planning algorithms with several implementation innovations to achieve provably robust on-line trajectory optimization. Using the proposed innovations, the planner is able to design intelligent long-term plans using a minimal number of decision variables. The effectiveness of this planner is demonstrated with both simulation results and flight experiments on a quadrotor testbed. Two major components of the Efficient RSBK framework are the robust model predictive control (RMPC) scheme and the low-level planner. This thesis develops a generalized framework to investigate RMPC affine feedback policies on the disturbance, identify relative strengths and weaknesses, and assess suitability for the UAV trajectory planning problem. A simple example demonstrates that even with a conventional problem setup, the closed-loop performance may not always improve with additional decision variables, despite the resulting increase in computational complexity. A compatible low-level troller is also introduced which significantly improves trajectory-following accuracy, as demonstrated by additional flight experiments. Thesis Supervisor: Jonathan How Title: Professor
Component parts extraction from assembly drawings for content based retrieval

This paper provides a method for component parts extraction from assembly drawings for content based retrieval. With the assistance of the frame lines in an assembly drawing, the drawing is divided into small regions, which at the same time are identified as text or non-text regions. Based on a merge-separation process, the non-text regions obtained above are analyzed for component parts extraction, where the merge process is used to group the single part containing regions, while the separation process is used to split the parts interconnected by interpretation lines. Such system helps assembly drawing retrieval by matching the extracted component parts with the query part, thus avoids a complex search of the whole assembly drawing.
An instructional guide for leaf color analysis using digital imaging software

Digital color analysis has become an increasingly popular and cost-effective method utilized by resource managers and scientists for evaluating foliar nutrition and health in response to environmental stresses. We developed and tested a new method of digital image analysis that uses Scion Image or NIH image public domain software to quantify leaf color. This publication provides instructions for using this software to measure the percentage green and red in leaves, colors of particular importance for the assessment of plant health. Comparisons of results from digital analyses of 326 scanned images of leaves and concurrent spectrophotometric measures of chlorophyll a, chlorophyll b, and anthocyanins verify that image analysis provides a reliable quantitative measure of leaf color and the relative concentrations of underlying plant pigments.
Interactions Between Perceptions of Fatigue, Effort and Affect Decrease Knee Extensor Endurance Performance Following Upper Body Motor Activity, Independent of Changes to Neuromuscular Function.

Prior exercise has previously been shown to impair subsequent endurance performance in non-activated muscles. Declines in neuromuscular function and altered perceptual/affective responses offer possible mechanisms through which endurance performance may be limited in these remote muscle groups. We thus conducted two experiments to better understand these performance limiting mechanisms. In the first experiment, we examined the effect of prior handgrip exercise on the behavioural, perceptual and affective responses to a sustained, sub-maximal contraction of the knee extensors. In the second experiment, transcranial magnetic stimulation (TMS) was used to assess neuromuscular function of the knee extensors before and after handgrip exercise. The results of the first experiment demonstrated prior handgrip exercise increased perceptions of effort and reduced affective valence during the subsequent knee extensor endurance exercise. Both effort and affect were associated with endurance performance. Subjective ratings of fatigue were also increased by the preceding handgrip exercise but were not directly related to knee extensor endurance performance. However, perceptions of fatigue were correlated with heightened effort perception and reduced affect during the knee extensor contraction. In the second experiment, prior handgrip exercise did not significantly alter neuromuscular function of the knee extensors. The findings of the present study indicate that motor performance in the lower limbs following demanding exercise in the upper body appears to be regulated by complex, cognitive-emotional interactions, which may emerge independent of altered neuromuscular function. Subjective fatigue states are implicated in the control of perceptual and affective processes responsible for the regulation of endurance performance.
Characterization of MEMS Materials Using Laser Micromachine

Laser micromachining technique was used in this work to produce two different microfluidic structure on three MEMS materials namely silicon, SU-8 photoresist and polydimethylsiloxane (PDMS). The operational parameters of the machine ablation effects on the materials, which are the laser energy, laser pulse rate and the laser size were also investigated. We found that this technique is capable to produce typical MEMS structure similar as being produced using conventional photolithography process.
Simulation of Second-Order Roll Motions of a FPSO

The roll motions are a key parameter on the design of FPSOs that operate in moderate and severe environmental conditions. To reduce the magnitude of roll motions, some techniques based on changing the vertical position of gravity center are used to put the roll natural period outside of the frequency range of the linear waves. However, recent model tests and also numerical calculations have shown that the vessel may still experience large roll motions which are considered to be induced by second-order wave loads. Further to the work in Rezende et al. (2007) to compute the roll response in frequency domain, new developments to perform simulations in time domain are presented here. In this new method, variations of second-order roll moments dependent on the roll and heave motions are taken into account consistently. It is shown that, unlike the horizontal loads, the quadratic transfer functions of the vertical loads depend on the instantaneous position of the vessel. The variation of the roll moment with the heave position of the vessel has been considered more important than the variation obtained only with the inclination of the vessel. Furthermore, numerical results of roll simulations are compared with model tests results and presented in the paper.Copyright © 2008 by ASME
Implementation of underwater precise navigation system for a remotely operated mine disposal vehicle

This paper describes the implementation of a precise underwater navigation solution using a multiple sensor fusion technique based on USBL, GPS, DVL and AHRS measurements for the operation of a remotely operated mine disposal vehicle (MDV). The estimation of accurate 6DOF positions and attitudes is the key factor in executing dangerous and complicated missions. To implement the precise underwater navigation, two strategies are chosen in this paper. Firstly, the sensor frame alignment to the body frame is conducted to enhance the performance of a standalone dead-reckoning algorithm. Secondly, absolute position data measured by USBL is fused to prevent cumulative integration error. The heading alignment error is identified by comparing the measured absolute positions with the DR algorithm results. The performance of the developed approach is evaluated with the experimental data acquired by MDV in the South-sea trial.
Quantification of undersea gas leaks from carbon capture and storage facilities, from pipelines and from methane seeps, by their acoustic emissions

In recent years, because of the importance of leak detection from carbon capture and storage facilities and the need to monitor methane seeps and undersea gas pipelines, there has been an increased requirement for methods of detecting bubbles released from the seabed into the water column. If undetected and uncorrected, such leaks can generate huge financial and environmental losses. This paper describes a theory by which the passive acoustic signals detected by a hydrophone array can be used to quantify gas leakage, providing a practical (as opposed to research), passive and remote detection system which can monitor over a period of years using simple instrumentation. The sensitivity in detecting and quantifying the flux of gas is shown to exceed by more than two orders of magnitude the sensitivity of the current model-based techniques used commercially for gas leaks from large, long pipelines.
Secondary health conditions and their impact on the wellbeing of people with spinal cord injury, South Africa: Patients perspective.

Background Long-term rehabilitation that includes preventive care for people with spinal cord injury is key to promoting health. There is evidence that secondary health conditions (SHCs) are prevalent complications across the continuum of care for people with spinal cord injury, leading to recurrent hospitalization and poor quality of life. In order to develop a context-based prevention model of care and strategies in South Africa, there is a need to understand the lived experiences of people with spinal cord injury (SCI). Aim To describe people with spinal cord injury’s experiences of secondary health conditions and the impact these have on their wellbeing.Methods A qualitative descriptive design using semi-structured interviews was adopted. Purposive sampling was used to collect data from 17 participants with SCI who attend outpatient medical care at a tertiary rehabilitation hospital in Gauteng, South Africa. Primary data were collected from August 2018-July 2019. All interviews were transcribed verbatim and analysed using a thematic analysis approach.Results People with spinal cord injury experience a range of secondary health conditions, of which pain, bowel and bladder issues were the most common. The presence of SHCs had an impact on the psychological, physical and social wellbeing of the participants.Conclusion There is a need for prevention interventions (health education and screening) for SHCs throughout the continuum of care and at all levels of prevention. Further research on factors influencing the prevention and management of SHCs is needed.
Investigation of the detection of knock and misfire of a spark ignition engine with the ionic current method

Abstract This paper reports an investigation of detection of knock and misfire in the spark ignition engine by means of the ionic current method. In the knock experiments, two detecting methods are used. One is the ionic current method. High frequency signals will be added to the ionic current signals where knocking is happening, which can be detected by picking up these signals. The other is the engine block vibration method. Knock can also be detected by monitoring signals of the vibration sensor in a proper position. The signals of the two kinds of methods are recorded at the same time with a dual-channel oscilloscope. With wave comparison and fast Fourier transform analysis, the advantages of the ionic current method can be shown and its feasibility and reliability can be proved further. In misfire experiments, misfire can occur by adjusting spark plug gap, adding carbon deposits and cutting out high voltages. A remarkable difference exists between misfire and non-misfire ionic current signals in shape and amplitude. By detecting these changes, misfire detection can be realized. The experiments prove that using the ionic current method to detect knock and misfire is simple, visual and cheap.
Acceptance and usability of an ambulant activity coach for patients with COPD

In chronic care, technology can play an important role to increase the quality and efficiency of healthcare. But to be successful, healthcare technology needs to be acceptable, usable, and easily integrated into daily life. As a consequence, end-users need to be actively involved in the design process. In the European IS-ACTIVE project, we developed the Activity Coach, which aims to promote an active lifestyle for patients with COPD, by applying visual feedback and real-time motivational cues in daily life. In this paper, we elaborate on the Activity Coach design, involving the end-users, to develop a product that is highly usable and well accepted.
Design Investigation of Microstrip Patch and Half-Mode Substrate Integrated Waveguide Cavity Hybrid Antenna Arrays

In this paper two linear arrays including a linear 1×4 and a planar 2×2 of microstrip patch and half-mode substrate integrated waveguide (SIW) cavity hybrid antenna are introduced and investigated. These are simply implemented using low cost single layer printed circuit board (PCB) process. The array element consists of a rectangular microstrip patch with appropriate dimensions in the vicinity of a semi-cicular SIW resonator which are formed a wideband hybrid antenna. In both antenna arrays a microstrip feeding network including a quartur wave transformer matching circuit has been used to fed the array elements. The size of 1×4 linear array is 1. 58λ0×2. 87λ0 and planar 2×2 array size is 1. 57λ0×1. 37λ0. Array structure are numerically and experimentally investigated. The measured and simulated results including reflection coefficient, radiation patterns and gain of the both antenna arrays are reported.
The algorithmic beauty of plant roots – an L-System model for dynamic root growth simulation

Understanding the impact of root architecture on plant resource efficiency is important, in particular, in the light of upcoming shortages of mineral fertilizers and changed environmental conditions. In the 1950s, a great number of root systems of European cultivated plants were excavated and studied by L. Kutschera (1960). Her work gave enormous insight into the variety of root system architectures and helped to realize the importance of belowground processes to plant productivity. We analysed the resulting hand drawings by using mathematical modelling and found root system parameters for a newly developed parametric L-System model. In this way we were able to first reproduce the illustrations, second computationally analyse root system traits and finally access the dynamic root architecture development.
Seismic Performance of Retrofitted Reinforced Concrete Bridge Pier

This paper presents the experimental testing of a bridge pier for seismic performance. A half-scale model of a typical bent in the Bay Area Rapid Transit's (BART's) West Oakland Aerial Guideway was investigated. Two pseudo-cyclic bidirectional tests were conducted on a single test specimen that modeled an existing pier including proposed retrofit measures. Twenty-four battered piles provided the foundation moment capacity during a system test. This test was designed to test the failure mechanism of the pile-pile cap connection. Another test isolated the column-footing joint by restraining the pile cap rotation and translation. A retrofitted pile cap was examined for its joint shear response. The test results showed a limited system ductility after pile failure, followed by a rocking movement from the pier. Results from the joint shear test indicated the retrofit could prevent joint shear failure and established the allowable column-footing joint shear stress to use in retrofit design.
Utilization of Co-evaporation Technique for Enhancement the Solubility and Dissolution Rate of Etodolac

Etodolac (ETD), a member of non-steroidal anti-inflammatory drugs (NSAIDs), has a poor aqueous solubility. Long term administration of ETD causes severe gastrointestinal disturbances such as peptic ulcer and bleeding. The enhancement of its solubility and dissolution profile is expected to improve its bioavailability and reduce its side effects. In the present study, we tried to enhance the aqueous solubility and dissolution rate of ETD by two co-evaporation techniques. The first one is the formation of solid dispersion with different hydrophilic carriers, including polyethelene glycol (PEG 4000), polyvinyl pyrrolidones (PVP K25 and PVP K90) and urea. The second method is the formation of solid adsorbates using inert carriers such as avecil PH 101, bentonite and aerosil 200 as adsorbents. Co-evaporates were prepared at (1:1 w/w), (1:3 w/w) and (1:5 w/w) ETD to carrier ratios and the corresponding physical mixtures were also prepared. The solubility and dissolution studies of all formulations were measured. Moreover, the physicochemical properties of the modified co-evaporates were characterized using different techniques including, differential scanning calorimetry (DSC), infrared spectroscopy and X-ray diffractometry (XRD) analysis. The results showed that the co-evaporates exhibited higher dissolution rate than the corresponding physical mixtures and both showed higher dissolution rate than the unmodified drug. Increase polymer concentration led to increase in the dissolution rate of drug. Plus, the dissolution rate was enhanced by increasing the temperature of the dissolution medium. Avecil PH 101 exhibited the highest dissolution rate over all other polymers. Infrared studies showed no interaction between the drug and the investigated carrier. The DSC and XRD studies indicated the conversion of ETD to an amorphous state. The enhancement of the drug solubility may be attributed to the increase of drug surface area, the wettability, formation of hydrogen bonds and the conversion to amorphous state.
Hydrologic and hydraulic evaluation of drainage system in eastern Slovak Lowland

The contribution deals with hydrological as well as hydraulic evaluation of drainage system in one of the most critical region in Slovakia from hydrological, soil and geomorphological conditions. Results show the necessity of optimization of internal water drainage in Eastern Slovak Lowland. Particular attention is devoted to pumping station Pavlovce nad Uhom, which is part of the drainage system named ESL-3. Optimization lies in the evaluation of the pumping station effectiveness with regard to the flow capacity of drainage channel and pumping device parameters, which are installed to the pumping station.
A Review of Fly Ash-Based Geopolymer Lightweight Bricks

This paper offers a review on production of fly ash-based geopolymer bricks.Bricks are the world’s most versatile, durable and reliable construction material.Conventional bricks are produced from clay with high temperature kiln firing or from ordinary Portland cement (OPC) concrete,and thus contain high embodied energy and have large carbon footprint. In many areas of the world,there is already a shortage of natural source material for production of the conventional bricks. For environmentalprotection and sustainable development, extensive research has been conducted on productionof bricks from waste materials.Fly ash is a waste material of coal firing thermal plants and its accumulation near power plants causes severe pollution problems. Therefore, its utilization as a raw material for brick making will be a very beneficial solution in terms of economic and environmental aspects.
Ridge Estimation and Principal Component Analysis to Solve an Ill-Conditioned Problem of Estimating Unmeasured Gas Turbine Parameters

This paper addresses the problem of estimation of unmeasured gas turbine engine variables using statistical analysis of measured data. Possible changes of an engine health condition and lack of information about these changes caused by limited instrumentation are taken into account. Engine thrust is under consideration as one of the most important unmeasured parameters. Two common methods of aircraft gas turbine engine (GTE) thrust monitoring and their errors due to health condition changes are analyzed. Additionally, two mathematical techniques that allow reducing in-flight thrust estimation errors in the case of GTE deterioration are suggested and verified in the paper. They are a ridge trace and a principal component analysis.A turbofan engine has been chosen as a test case. The engine has five measured variables and 23 health parameters to describe its health condition. Measurement errors are simulated using a generator of random numbers with the normal distribution. The engine is presented in calculations by its nonlinear component level model (CLM). Results of the comparison of thrust estimates computed by the CLM and the proposed techniques confirm accuracy of the techniques. The regression model on principal components has demonstrated the highest accuracy.Copyright © 2013 by ASME
Genetic variants and Expression of Cytochrome p450 Oxidoreductase Predict Postoperative Survival in Patients with Hepatitis B Virus-Related Hepatocellular Carcinoma

Our current study investigates the prognostic values of genetic variants and mRNA expression of cytochrome p450 oxidoreductase (POR) in hepatitis B virus (HBV)-related hepatocellular carcinoma (HCC). A total of 19 candidate single nucleotide polymorphisms (SNPs) located in the exons of POR were genotyped using Sanger sequencing from 476 HBV-related HCC patients who underwent hepatectomy between 2003 and 2013. The mRNA expression of POR in 212 patients with HBV-related HCC was obtained from GSE14520 dataset. Survival analysis was performed to investigate the association of POR variants and mRNA expression with overall survival (OS) and recurrence-free survival (RFS). Nomograms were used to predict the prognosis of HBV-related HCC patients. Gene set enrichment analysis (GSEA) was used to investigate the mechanism of POR in HBV-related HCC prognosis. The polymorphism POR-rs1057868 was significantly associated with HBV-related HCC OS (CT/TT vs. CC, hazard ratio [HR] = 0.69, 95% confidence interval [CI] = [0.54, 0.88], P = 0.003), but not significantly associated with RFS (CT/TT vs. CC, P = 0.378). POR mRNA expression was also significantly associated with HBV-related HCC OS (high vs. low, HR = 0.61, 95% CI = [0.38, 0.97], P = 0.036), but not significantly associated with the RFS (high vs. low, P = 0.201). Two nomograms were developed to predict the HBV-related HCC OS. Furthermore, GSEA suggests that multiple gene sets were significantly enriched in liver cancer survival and recurrence, as well as POR-related target therapy in the liver. In conclusion, our study suggests that POR-rs1057868 and mRNA expression may serve as a potential postoperative prognosis biomarker in HBV-related HCC.