Miracle-dz/UniFAR-FTUs huggingface dataset:
Path Planning and Obstacle Avoidance of Mobile Robots via Potential Field Based Fuzzy Controlling

—This paper proposes a real-time in-house target detection procedure for path planning and obstacle avoidance of unmanned vehicles in unknown environments, where the so-called e − puck mobile robot is considered as a case-study. The concept of potential ﬁeld method is used as a fundamental element in the control loop, which produces the force vector determining the direction and velocity of the navigation of the mobile robot. As the e − puck mobile robot is equipped with limited sensory facilities, a combination of the potential vectors is used to calculate the overall potential force. Moreover, in order to circumvent the ripples and unevenness of the path produced by the potential ﬁeld function, and avoid sticking in local minimum traps, a fuzzy controller plant is utilized which maps the value returned by the potential ﬁeld function and the difference between the desired situation of the mobile robot and the present one into velocity commands for the wheels of the mobile robot. Furthermore, kinematic modeling and dynamic properties of the e − puck mobile robot is presented. Afterward, the selected bunch of path planning plants are set up to complete the navigation control loop. Finally, the results of implementation of the proposed path planning and obstacle avoidance strategy in the considered experimental case-study are illustrated which ascertain its practicability.
University of Crystal structure of LIR-2 (ILT4) at 1.8A: differences from LIR-1 (ILT2) in regions implicated in the binding of the human cytomegalovirus class I MHC homolog UL18

Background: Leukocyte Immunoglobulin-like Receptor-1 (LIR-1) and LIR-2 (also known as ILT2 and ILT4 respectively) are highly related cell surface receptors that bind a broad range of class I MHC molecules with low ( (cid:1) M) affinities. Expressed on monocytic cells and macrophages, both molecules transmit inhibitory signals after binding ligands. In addition to binding host class I MHC, the LIR-1 molecule, which is also expressed on lymphoid tissues, binds with a high (nM) affinity to UL18, a class I MHC homolog encoded by Human Cytomegalovirus (HCMV). In comparison, LIR-2 binds UL18 only weakly ( (cid:1) M K D ). To understand how HCMV preferentially targets the more broadly expressed LIR-1 molecule, we determined the crystal structure of a ligand-binding fragment of LIR-2, and compared this to the existing high-resolution crystal structure of LIR-1. Results: Recombinant LIR-2 (domains 1 and 2) was produced in E. coli and crystallized using streak seeding to optimize the crystal morphology. A data set complete to 1.8 Å was collected at 100 K from a single crystal in the P4 1 2 1 2 spacegroup. The structure was solved by molecular replacement, using a search model based on the LIR-1 structure. region LIR-1 is altered substantially in LIR-2: of LIR-2
Linking Mother and Youth Parenting Attitudes: Indirect Effects via Maltreatment, Parent Involvement, and Youth Functioning

, Abstract Evidence suggests that parenting attitudes are transmitted within families. However, limited research has examined this prospectively. The current prospective study examined direct effects of early maternal attitudes toward parenting (as measured at child age 4 by the Adult-Adolescent Parenting Inventory [AAPI]) on later youth parenting attitudes (as measured by the AAPI at youth age 18). Indirect effects via child maltreatment (physical abuse, sexual abuse, neglect, and emotional maltreatment), parent involvement, and youth functioning (internalizing and externalizing problems) were also assessed. Analyses were conducted on data from 412 families enrolled in the Longitudinal Studies of Child Abuse and Neglect (LONGSCAN). There were significant direct effects for three of the four classes of mother parenting attitudes (appropriate developmental expectations of children, empathy toward children, and appropriate family roles) on youth attitudes but not for rejection of punishment. In addition, the following indirect effects were obtained: Mother expectations influenced youth expectations via neglect; mother empathy influenced youth empathy via both parental involvement and youth externalizing problems; and mother rejection of punishment influenced youth rejection of punishment via youth internalizing problems. None of the child or family process variables, however, affected the link between mother and youth attitudes about roles. this study examined the potential transmission of parenting attitudes across particularly important stages of development. The toddler years, the age range at which maternal parenting attitudes were assessed, are considered a key developmental phase for understanding parenting attitudes, given the dramatic developmental changes occurring for children and the associated impact on the parent–child relationship. Then, we examined parenting attitudes among youth in emerging adulthood at age 18, a period that is particularly important in understanding the development of parenting attitudes in a group of youth who are on the threshold of becoming or may already have become parents themselves. Finally, this study identified several potential mechanisms (e.g., neglect) accounting for the transmission of attitudes, each of which is amenable to preventive interventions aimed at high-risk families.
Dissecting the b -Aminobutyric Acid–Induced Priming Phenomenon in Arabidopsis

Plants treated with the nonprotein amino acid b -aminobutyric acid (BABA) develop an enhanced capacity to resist biotic and abiotic stresses. This BABA-induced resistance (BABA-IR) is associated with an augmented capacity to express basal defense responses, a phenomenon known as priming. Based on the observation that high amounts of BABA induce sterility in Arabidopsis thaliana , a mutagenesis screen was performed to select mutants impaired in BABA-induced sterility ( ibs ). Here, we report the isolation and subsequent characterization of three T-DNA–tagged ibs mutants. Mutant ibs1 is affected in a cyclin-dependent kinase–like protein, and ibs2 is defective in AtSAC1b encoding a polyphosphoinositide phosphatase. Mutant ibs3 is affected in the regulation of the ABA1 gene encoding the abscisic acid (ABA) biosynthetic enzyme zeaxanthin epoxidase. To elucidate the function of the three IBS genes in plant resistance, the mutants were tested for BABA-IR against the bacterium Pseudomonas syringae pv tomato , the oomycete Hyaloperonospora parasitica , and BABA-induced tolerance to salt. All three ibs mutants were compromised in BABA-IR against H. parasitica , although to a different extent. Whereas ibs1 was reduced in priming for salicylate (SA)-dependent trailing necrosis, mutants ibs2 and ibs3 were affected in the priming for callose deposition. Only ibs1 failed to express BABA-IR against P. syringae , which coincided with a defect in priming for SA-inducible PR-1 gene expression. By contrast, ibs2 and ibs3 showed reduced BABA-induced tolerance to salt, which correlated with an affected priming for ABA-inducible gene expression. For all three ibs alleles, the defects in BABA-induced sterility and BABA-induced protection against P. syringae , H. parasitica , and salt could be conﬁrmed in independent mutants. The data presented here introduce three novel regulatory genes involved in priming for different defense responses. trailing necrosis upon infection by P. syringae and H. parasitica , respectively. Infection by H. parasitica also activates a defense pathway that leads to callose deposition. Treatment with BABA generates a PtdIns- and ABA-dependent priming for this defense response, leading to augmented deposition of callose and enhanced resistance against H. parasitica . Salt stress activates an ABA-dependent defense response. Treatment with BABA triggers a PtdIns-dependent priming for ABA-dependent defenses, causing augmented expression of ABA-dependent defenses upon exposure to salt stress. This BABA-induced tolerance to salt is marked by enhanced expression of the ABA-inducible genes RAB18 and RD29A . aniline-blue to discard excess amounts of the calcoﬂuor. Observations performed withan epiﬂuorescencemicroscope determining the percentage of per infected leaf.
Non-linear BBO for valve-point Economic Load Dispatch Problem

— This paper is an extension made in biogeography based optimization (BBO) by modifying its migration model to make it more realistic. The migration model used is non-linear sinusoidal migration model. This BBO technique is then applied on IEEE 40 generator system with valve point effect to analyze the behavior of non-linear model. Our analysis concludes that the sinusoidal models provide the best result for the ELD valve point effect problem than linear migration model.
Interactive comment on “Ice nucleation properties of mineral dust particles: Determination of onset RH i , IN active fraction, nucleation time-lag, and the effect of active sites on contact angles” by

The paper presents ice nucleation (IN) relative humidity (RH) onsets, IN time-lags, and the active fraction of IN from three Saharan dust samples and one Spanish dust sample. The experimental method is based on novel design of a static thermal gradient diffusion chamber. It is found that Saharan dust activates ice at lower RHs compared to the Spanish dust sample in a temperature range between -16 C and -33 C for particle sizes smaller than 38 µ m. An elemental analysis reveals that the Spanish dust sample contains a much higher fraction of Ca which might be one reason for the different RH onset values. This study observed signiﬁcant time-lags in ice formation when a speciﬁc RH was reached. A new parameterization is suggested to describe the ice formation time-lag and corresponding ice crystal formation rate. The effect of surface irregularities on the contact angle is discussed. not take
FAIM2007 Special Issue: Simulation-based scheduling of assembly operations

The production of large-sized machines or facilities is fundamentally different from the usual manufacturing processes. Mostly it is a fixed-site production, dominated by typical assembly processes instead of linear operation sequences in the known flow shop or job shop problems. To describe these processes, several graph methods were developed in the past, i.e. AND/OR-graphs or modified Petri nets, but most of them are static methods and they are not suitable for scheduling tasks. This paper demonstrates, how Timed AND/OR-graphs can be modeled with a common Discrete Event Simulation (DES) system. The objective is a simulation-based scheduling system for assembly processes which is able to improve the prediction of due date keeping as well as to optimize the workflow of the assembly systems.
TECHNISCHE BERICHTE TECHNICAL REPORTS

: Mobile applications are developed to run on fast-evolving platforms, such as Android or iOS. Respective mobile devices are heterogeneous concerning hardware (e.g., sensors, displays, communication interfaces) and software, especially operating system functions. Software vendors cope with platform evolution and various hardware conﬁgurations by abstracting from these variable assets. However, they cannot be sure about their assumptions on the inner conformance of all device parts and that the application runs reliably on each of them—in consequence, comprehensive testing is required. Thereby, in testing, variability becomes tedious due to the large number of test cases required to validate behavior on all possible device conﬁgurations. In this paper, we provide remedy to this problem by combining model-based testing with variability concepts from Software Product Line engineering. For this purpose, we use feature-based test modeling to generate test cases from variable operational models for individual application conﬁgurations and versions. Furthermore, we illustrate our concepts using the commercial mobile application “runtastic” as example application.
A Hybrid Approach for Enhancing Android Sandbox Analysis

—Dynamic analysis solutions are applied to prevent malicious applications from bypassing Android sandbox using dynamic payload techniques. However, such dynamic analysis methods are vulnerable to malware that use Anti-Analysis and Anti-Emulator techniques. Malicious applications use Anti-Emulation techniques to archive sensitive information that can be used to distinguish between sandbox and real device. Upon identifying sandbox environment, malicious applications may implement several of evasion techniques to avoid from being analyzed. The main problem, however, is that it can be easy for even a novice user to get sensitive information provided by a sandbox with just a little effort. Although there are work-around solutions for solving the problem by directly updating the sensitive information before building the sandbox, they are still containing some limitations in practice. Firstly, it is inconvenient to change the sensitive information after the sandbox or instrumentation module are deployed. Secondly, the updated information can be inconsistent and illogical. To provide a ﬂexible approach for these issues, this paper proposes a dynamic approach that updates the sensitive information based on Sensitive Information Provider server that is located outside the sandbox. The Sensitive Information Provider (SIP) could be a collector that retrieves and processes sensitive information from one or more seeder mobile devices or could be a set of mobile devices. Because of the device-based information, the proposed approach provides a consistence and logic output when it is compared with other solutions. Furthermore, since the proposed solution separates the source of sensitive information from the sandbox, it is possible to update the sensitive information even after the sandbox was deployed. However, the proposed approach sacriﬁces performance to ﬂexibility and thus it is only suitable to speciﬁc environments. The implementation section also analyzes the use-cases which are suitable to apply the proposed solution.
Content-Social Based Features for Fake News Detection Model from Twitter

The advancement of social networks has facilitated the sharing and spread of news among people over the world. With the growth of these networks and growth of the volume of the news shared daily, the phenomena of fake news become more stronger and widely spread. In this paper, content-social based features for fake news detection model from Twitter data has been proposed. This work aims to analyze content-based features of news content including of linguistic features, writing style features, semantic features and sentiment features along with social-context based features of news diffusion over the social network including user-based features and network-based features to detect fake news from Twitter news posts. With using of unsupervised graph-based clustering approach, no labelled data is required and this make the proposed model more practical to detect online fake news.
Hybrid method for brain tumor extraction and MRI scan classification

A brain tumor is one of the most devastating diseases. Early detection of brain tumor is a life-saving act. Magnetic Resonance Imaging (MRI) is one of the main techniques to detect brain tumor for diagnosis and treatment. Although there are numerous methods for brain tumor segmentation, automatic and exact segmentation still confronted with some problems and remain one of the most challenging tasks in medical data processing. This paper presents a machine learning algorithm to classify MRI scans to be normal or abnormal using three techniques of classification which are Support Vector Machine (SVM), Linear Discriminant Analysis (LDA) and Artificial Neural network (ANN) , these techniques of classification are tested on a large database with accuracy of 93.06%, 97.45% and 98.9% respectively, then the detection of the brain tumor region from MRI abnormal scan images is performed using a hybrid method that is based on morphological operations , Filtering and Histogram Processing on images.
Investigating Augmented Reality for Improving Child-Robot Interaction

Communication in HRI, both verbal and non-verbal, can be hard for a robot to interpret and to convey which can lead to misinterpretations by both the human and the robot. In this thesis we look at answering the question if AR can be used to improve communication of a social robot’s intentions when interacting with children. We looked at behaviors such as getting children to pick up a cube, place a cube, give the cube to another child, tap the cube and shake the cube. We found that picking the cube was the most successful and reliable behavior and that most behaviors were slightly better with AR. Additionally, endorsement behavior was found to be necessary to engage the children, however, it needs to be quicker, more responsive and clearer. In conclusion, there is potential for using AR to improve the intent communication of a robot, but in many cases, the robot behavior alone was already quite clear. A larger study would need to be conducted to further explore this.
Temporal patterns and behavioural states of mountain goat (Oreamnos americanus) movements to hotspots in the Rocky Mountains

Concentrated resources, or hotspots, within an individual’s usual home range may be strong determinates of movement behaviour. We evaluated the patterns of mineral lick use by a population of mountain goats (Oreamnos americanus) displaying high site fidelity at two mineral licks along the Trans-Canada Highway in the Rocky Mountains, British Columbia, Canada. Access to these mineral licks was characterized by deliberate and repetitive movements into marginal habitat. We describe the patterns of mineral lick use over decadal, seasonal and daily periods by using dendrochronological analysis of trampling scars along mountain goat trails, movements determined from GPS collar locations, and camera traps placed along trails and at mineral licks, respectively. Our findings suggest that mountain goats have strong transgenerational behavioural traditions and that they predictably access mineral licks using the same trails, seasons, and daily patterns. Differences in the patterns of mineral lick visitation between males and females may be related to reproductive and nutritional status, while their nocturnal use appears to be a response to disturbance at the mineral licks. Understanding how animals adjust their behaviour in response to highly localized resource hotspots outside their usual home range can provide valuable information for the management of these critical habitat features and the wider conservation of mountain goat populations.
Increased Th2 Cytokine Production and Leads to Enhanced Airway Inflammation Conditional Deletion of HDAC1 in T Cells

Chromatin modiﬁcations, such as reversible histone acetylation, play a key role in the regulation of T cell development and function. However, the role of individual histone deacetylases (HDACs) in T cells is less well understood. In this article, we show by conditional gene targeting that T cell-speciﬁc loss of HDAC1 led to an increased inﬂammatory response in an in vivo allergic airway inﬂammation model. Mice with HDAC1-deﬁcient T cells displayed an increase in all critical parameters in this Th2-type asthma model, such as eosinophil recruitment into the lung, mucus hypersecretion, parenchymal lung inﬂammation, and enhanced airway resistance. This correlated with enhanced Th2 cytokine production in HDAC1-deﬁcient T cells isolated from diseased mice. In vitro-polarized HDAC1-deﬁcient Th2 cells showed a similar enhancement of IL-4 expression, which was evident already at day 3 of Th2 differentiation cultures and restricted to T cell subsets that underwent several rounds of cell divisions. HDAC1 was recruited to the Il4 gene locus in ex vivo isolated nonstimulated CD4 + T cells, indicating a direct control of the Il4 gene locus. Our data provide genetic evidence that HDAC1 is an essential HDAC that controls the magnitude of an inﬂammatory response by modulating cytokine expression in effector T cells. The Journal of Immunology , 2010, 185: 000–000.
Complexity Theory and the Social Sciences

This expanded and updated edition of Complexity Theory and the Social Sciences: The State of the Art revisits the use of complexity theory across the social sciences and demonstrates how complexity informs approaches to various contemporary issues in the context of the COVID-19 pandemic, widening social inequality, and impending social and ecological catastrophe wrought by global warming. The book reviews complexity theory in the practice of the social sciences and at their interface with ecological science. It outlines how social theory can be reconciled with complexity thinking and presents a review of the way research can be done using complexity theory. The book suggests how complexity theory can be used to understand and evaluate governance processes, particularly with regard to social inequality and the climate crisis. The impact of the COVID-19 pandemic is also examined through a complexity lens, reviewing how complexity thinking has been employed in relation to the pandemic and how implementing a complexity framework can transform health and social care. The book concludes with a call to action and the use of complexity theory to inform critical thinking in the education system. This textbook will be immensely useful to students and researchers interested in social research methods, social theory, business and organization studies, health, education, urban studies, and development studies. © 2023 David Byrne and Gillian Callaghan.
When Do Placebos in Psychotherapeutic Research Work? A Systematic Review on the Example of Systematic Desensitization

der SD waren nicht einheitlich. Eine durchgeführte Moderator-Analyse zeigte, dass der Nachweis spezifischer Effekte von der Glaubwürdigkeit des Placebos und dem dabei erlebten Ausmaß emotio-naler Erfahrungen abhängig ist. Schlussfolgerung: Ob ein bestimmtes psychotherapeutisches Verfahren als spezifisch einzustufen ist, hängt von der Operationali-sierung der Placebo-Kontrolle ab. Insbesondere bei SD scheint die Einschränkung des zu bearbeitenden Themas und in der Folge die Unterbindung der emotionalen Er-fahrung des Patienten innerhalb der Kontrollbedingung eine Voraussetzung dafür zu sein, spezifische Effekte der SD zu finden.
A MULTIPITCH ESTIMATION ALGORITHM BASED ON FUNDAMENTAL FREQUENCIES AND PRIME HARMONICS

An algorithm named Prime-multiF0 for the estimation of multiple pitches in a signal is proposed. Unlike other algorithms that consider all harmonics of every pitch candidate, our algorithm considers only on the fundamental frequency and prime harmonics. This approach is shown to work extremely well with chords made of intervals no smaller than a minor third. A test suite was created using synthetic signals of sawtooth, square, and triangle waves; major, minor, diminished and augmented triads in fundamental and ﬁrst and second inversion, and spanning a bass range of three octaves. Experimental results show that our algorithm was able to detect the correct notes (after rounding to the closest semitone) for all the sawtooth and square waves in the test set, and for 99.3% of the triangle waves, failing only on very high pitch notes.