Miracle-dz/UniFAR-FTUs huggingface dataset:
Improvement of position measurement for 6R robot using magnetic encoder AS5045

Recording the variation of joint angles as a feedback to the control unit is frequent in articulated arms. In this paper, magnetic sensor AS5045, which is a contactless encoder, is employed to measure joint angles of 6R robot and the performance of that is examined. The sensor has a low volume, two digital outputs and provides a high resolution measurement for users; furthermore its zero position is adjustable. Installation and use of this measurement system on 6R robot has been expressed by using output signals of sensor AS5045 in the digital control board of 6R and equipped with ARM processor LPC1768. First, a sample of digital board is used for controlling a DC motor in both speed and position, in order to investigate specifications of AS5045’s digital and analogue outputs. Simulation of 6R robot in point-to-point motion has been performed with MATLAB software using a proportional derivative (PD) controller. Then, experiment with the same condition and gains via a PD controller has been designed and implemented on the digital control board. The feedback system has been also checked in a circular path to show its advantages in trajectory tracking. The comparison of simulation results with experiments shows improvement: less error and better performance of 6R robot. This new setup omitted the noise of previous analogue feedback system since its digital outputs provides a precise measurement.
Simple tools to study global dynamics in non-axisymmetric galactic potentials – I

In a rst part we discuss the well-known prob- lem of the motion of a star in a general non-axisymmetric 2D galactic potential by means of a very simple but al- most universal system: the pendulum model. It is shown that both loop and box families of orbits arise as a natural consequence of the dynamics of the pendulum. An approx- imate invariant of motion is derived. A critical value of the latter sharply separates the domains of loops and boxes and a very simple computation allows to get a clear pic- ture of the distribution of orbits on a given energy surface. Besides, a geometrical representation of the global phase space using the natural surface of section for the prob- lem, the 2D sphere, is presented. This provides a better visualization of the dynamics. In a second part we introduce a new indicator of the basic dynamics, the Mean Exponential Growth fac- tor of Nearby Orbits (MEGNO), that is suitable to inves- tigate the phase space structure associated to a general Hamiltonian. When applied to the 2D logarithmic poten- tial it is shown to be eective to obtain a picture of the global dynamics and, also, to derive good estimates of the largest Lyapunov characteristic number in realistic physi- cal times. Comparisons with other techniques reveal that the MEGNO provides more information about the dynam- ics in the phase space than other wide used tools. Finally, we discuss the structure of the phase space as- sociated to the 2D logarithmic potential for several values of the semiaxis ratio and energy. We focus our attention on the stability analysis of the principal periodic orbits and on the chaotic component. We obtain critical energy values for which connections between the main stochastic zones take place. In any case, the whole chaotic domain appears to be always conned to narrow laments, with a Lyapunov time about three characteristic periods.
Modification of k-ε Turbulent Model Using Kinetic Energy–Preserving Method

In this article, the kinetic energy–preserving (KEP) scheme and, also, the way of applying this scheme to the k–ε turbulent model are introduced. This study aims to introduce a stable method in which a few artificial dissipation terms are added to the governing equations in a way that the intensity of the solution fluctuations is reduced and, therefore, the problem stability increases. In accord with the importance of the study of turbulent flows, the effects of the fluctuating velocity terms on the calculation of all fluxes in the governing equations are scrutinized as well. Also, the influence from applying the KEP scheme on the k–ε turbulent model is investigated. This article reveals that by using the KEP scheme and, afterwards, improving the discretization method of the velocity fluctuation terms in k–ε equations, the accuracy of the results obtained is enhanced without a need to add artificial dissipation terms (or by minimizing their values).
Training Self-Regulated Learning in the Classroom: Development and Evaluation of Learning Materials to Train Self-Regulated Learning during Regular Mathematics Lessons at Primary School

The aim of the intervention based on the self-regulation theory by Zimmerman (2000) was to promote a powerful learning environment for supporting self-regulated learning by using learning materials. In the study, primary school teachers were asked to implement specific learning materials into their regular mathematics lessons in grade four. These learning materials focused on particular (meta)cognitive and motivational components of self-regulated learning and were subdivided into six units, with which the students of the experimental group were asked to deal with on a weekly basis. The evaluation was based on a quasiexperimental pre-/postcontrol-group design combined with a time series design. Altogether, 135 fourth graders participated in the study. The intervention was evaluated by a self-regulated learning questionnaire, mathematics test, and process data gathered through structured learning diaries for a period of six weeks. The results revealed that students with the self-regulated learning training maintained their level of self-reported self-regulated learning activities from pre- to posttest, whereas a significant decline was observed for the control students. Regarding students’ mathematical achievement, a slightly greater improvement was found for the students with self-regulated learning training.
The upward bias of markups estimated from the price-based methodology

Previous studies have emphasized that Roeger's methodology generates too high markups. This feature is confirmed on the basis of the unrealistically low capital shares implied by the estimates herein. Theoretically, it is shown that the normalization choice, the slow adjustment of capital and the mismeasurement of capital expenditures, each produces an upward bias. For instance, the price-based estimated markup is in fact the markup adjusted for returns to scale on the variable inputs only. Based on the empirical analysis, each of these sources of overestimation is very likely to play a role.
REFERENCE VALUES AND RELATIONSHIP OF THE SIX MINUTE WALK TEST AND BODY MASS INDEX IN HEALTHY THIRD GRADE SCHOOL CHILDREN.

Purpose: This study attempted to establish reference values of the six-minute walk test (6MWT) for children (38 males; 38 females; age 90-108 months) and to determine the relationship between Body Mass Index (BMI) and walking distance. Method: Subjects walked at a normal, self-selected, walking speed on a grassy field for six minutes, after which distance was measured. Results: Mean BMI was 15.5 (sd=2.00) for males and 16.3 (sd=2.9) for females. Mean walking distance was 581.7 m (sd=58.10) for males and 532.2 m (sd=52.6) for females. The partial correlation between BMI and distanced walked with the influence of gender removed was . 10 (p > .05). The partial correlation between BMI and distanced walked with the influence of age removed was . 02 (p > .05). There was no relationship between distance walked and BMI. Conclusions: Reference values of the six-minute walk test for healthy, third-grade school children were calculated and reported.
A correction in feedback loop applied to two-axis gimbal stabilization

A two-axis gimbal system can be used for stabilizing platform equipped with observation system like cameras or diﬀerent measurement units. The most important advantageous of using a gimbal stabilization is a possibility to provide not disturbed information or data from a measurement unit. This disturbance can proceed from external working conditions. The described stabilization algorithm of a gimbal system bases on a regulator with a feedback loop. Steering parameters are calculated from quaternion transformation angular velocities received from gyroscopes. This data are fed into the input of Proportional Integral Derivative (PID) controller. Their input signal is compared with earned value in the feedback loop. The paper presents the way of increasing the position’s accuracy by getting it in the feedback loop. The data fusion from a positioning sensor and a gyroscope results in much better accuracy of stabilization.
Effects of Nostalgia: The Discourse of Decline in Periya MēỊam Music of South India

Anthropologist Renato Rosaldo refutes the often-assumed notion of nostalgia as a personal, pure, and therefore innocent yearning for the past. In his essay, Rosaldo describes nostalgia as "a particularly appropriate emotion to invoke in attempting to establish one's innocence and at the same time talk about what one has destroyed" [R0sALDO1989: 108], which he calls imperialist nostalgia. He then argues that the pose of innocent yearning in this type of nostalgia not only captures people's imagination but it also conceals its complicity with domination. Although Rosaldo's observation pertains most immediately to the kind of nostalgia which agents of (Western) imperialism embrace toward the very forms of life they intentionally altered or destroyed, the effect of nostalgia in drawing attention away from the fundamental asymmetry of power, or rendering them less visible, seems to have much wider application. '
Capital Account Openness and Bankruptcies

This paper presents a model where opening the capital account of an economy causes more bankruptcies to take place in the non tradables sector. Non tradable firms must forecast the future state of the economy when investing since the demand for their goods depends on this. In our model the interest rate is a powerful signal that non tradable firms use when the capital account is closed, but its informational content decreases once the capital account opens up and international (as well as domestic) shocks affect it.
Early Changes in Soil Metabolic Diversity and Bacterial Community Structure in Sugarcane under Two Harvest Management Systems

A queima da cana-de-acucar previamente a colheita e amplamente utilizada no Brasil. Entretanto, em razao das restricoes ambientais, a colheita sem queima vem ganhando espaco. Consequentemente, espera-se que o acumulo de residuos da cultura na superficie do solo altere a comunidade microbiana, iniciando mudancas na diversidade metabolica do solo desde a primeira colheita. Uma vez que os atributos biologicos respondem rapidamente e podem ser uteis para o monitoramento de mudancas ambientais, o objetivo deste trabalho foi avaliar as mudancas iniciais na diversidade metabolica do solo e na estrutura da comunidade bacteriana com a eliminacao da queima, quando comparada ao manejo com queima previa a colheita da cana-de-acucar. Amostras de solo foram coletadas sob as variedades de cana-de-acucar SP813250, SP801842 e RB72454, colhidas sem a queima e com queima previa. O carbono da biomassa microbiana (MBC), os perfis de utilizacao de substratos de C, a estrutura da comunidade bacteriana com base nos perfis de amplicos do gene 16S rRNA e as propriedades quimicas do solo foram determinados. O MBC nao se diferenciou entre os tratamentos. A utilizacao de substratos de C e a diversidade metabolica foram menores no solo sem queima, exceto para o indice de equitabilidade de uso dos substratos. As amostras de solo sob a variedade SP801842 apresentaram as maiores mudancas na utilizacao de substratos e na diversidade metabolica, mas nao diferiram na estrutura da comunidade bacteriana, independentemente do sistema de manejo de colheita. Em conclusao, a analise conjunta de dados quimicos e microbiologicos do solo permite detectar alteracoes iniciais na capacidade e diversidade metabolica microbiana, com menores valores no manejo sem queima. Entretanto, apos a primeira colheita, nao houve mudancas na estrutura da comunidade bacteriana do solo detectada por PCR-DGGE sob a variedade SP801842. Portanto, o perfil metabolico e o indicador mais sensivel para mudancas iniciais na comunidade microbiana do solo, causadas pelo sistema de manejo de colheita.
Delayed entry and the utilization of higher education in Italian youth labour markets: evolution and involution

The article analyses the relation in Italy between education and labour status of highly educated people aged 20-29 over the years 1993-2009. A special labour market entry problem for young Italian graduates – it is argued – stands out in this long period. The article investigates and stresses a series of facts underlying the labour performance of young Italian graduates: the failure (at least so far) of the reform of the higher education system at the end of 1990s to accelerate the entry of young graduates into the labour market with the introduction of three-year degrees aimed at shortening university courses for a vast majority of students; the special difficulty in matching the demand for and supply of labour for graduates aged 20-24; the poor labour performances of first-level graduates aged 25-29 compared with that of second-level graduates and long programme diploma holders; the progress in the educational attainment of women and the consequent evolution in female labour status; and the enormous regional differences underlying the national data. Policy interventions to mitigate, if not eliminate, the special entry problem of first-level graduates – simplifying the organization of the two degree levels and removing restrictions on access to a range of professions, especially in the public sector – are required.
Self Dual Operators on Convex Functionals Geometric Mean and Square Root of Convex Functionals

Let Conv(X) be the set of the convex functionals defined on a linear space X, with values in R ∪ {+∞}. In this paper we give an extension of the notion of duality for (convex) functionals to mappings which operate from Conv(X)× Conv(X) into Conv(X). Afterwards, we present an algorithm which associates, under convenient assumptions, a self-dual operator to a given operator and its dual. Finally, we give some examples which prove the generality and interest of our approach.
Crime’s face: Imagining and representing kleptomania:

Marlene Dumas is regarded as one of the most important international painters of this time. In this article, an analysis is made of what her painting The Kleptomaniac (2005) and, in particular, what its title represents. Drawing upon art history, I begin by looking at the original Portrait of a Kleptomaniac (ca. 1820) by Gericault of which Dumas has painted her own version. This will be followed by a discussion of the history of the concept of kleptomania in psychiatry and an analysis of how that concept is reproduced by Dumas’s painting. It will be argued that, by giving the portrait of a man the title of ‘kleptomaniac’ in 2005, Dumas represents a type of criminal in a way that neither does justice to the history of the concept of kleptomania, nor to the phenomenon itself. By mobilizing a contested and obsolete psychiatric concept as a title for a painting, the subject itself is mystified and the effect on the viewer of the painting is not only disorienting, but also ethically problematic.
Selective Signal Suppression in Traveling Wave MPI: Focusing on Areas with Low Concentration of Magnetic Particles

Introduction: Common MPI scanners have difficulties to correctly visualize areas with a broad signal intensity spectrum due to their low signal dynamic capability. The aim of this study was to develop a selective signal suppression technique using an advanced trajectory design to circumvent this issue. Materials and Methods: Simulations where performed for a traveling wave (TW) MPI scanner. In the so called slice-scanning mode the field free points (FFPs) travel through the scanner on a sinusoidal trajectory given by the frequencies of the dynamic linear gradient array and a perpendicular saddle coil system. The signal can be selectively suppressed by locally reducing the speed of the FFPs. Series of measurements with two point samples containing different SPIO concentrations with and without selective signal suppression technique were simulated. Results: When imaging samples with two markedly different SPIO concentrations in the slice-scanning mode the signal of the lower concentration cannot be properly reconstructed. Applying the signal suppression technique to the area of the high concentration sample selectively reduces this signal and demarcates samples with lower concentrations. Conclusion: A selective signal suppression technique for TWMPI is introduced which allows to focus on low SPIO concentrations in samples with a large range of tracer concentrations. This can facilitate preclinical functional imaging in the proximity of organs with high unspecific SPIO uptake such as the liver.
Imaging Features and Diagnosis of Infected Aortic Aneurysms and Inflammatory Diseases Involving the Aorta

In this review article, we focused on the imaging features and diagnosis of infected aortic aneurysms and inflammatory diseases involving the aorta. The imaging features of other inflammatory diseases involving the aorta resemble those of infected aneurysms. In particular, chronic periaortitis is a manifestation of immunoglobulin G4 (IgG4)-related disease, which is a newly recognized syndrome of unknown etiology that has attracted much attention. IgG4-related disease is characterized by a fibroinflammatory condition with a dense lymphoplasmacytic infiltrate rich in IgG4-positive plasma cells. Considering their similar imaging features, infected aneurysms should be carefully differentiated from chronic periaortitis. The treatment options for these 2 potential diagnoses are completely different and consist of either corticosteroids or antibiotics. Medical history, severity (high or low grade) of fever, physical examination, clinical course (rapidly or slowly progressive), repeated blood cultures, multiple imaging modalities, and elevated IgG4 levels in addition to pathological findings would be useful in obtaining a differential diagnosis in patients suspected of having either of the aforementioned conditions.
Eye movements during reading proverbs and regular sentences: the incoming word predictability effect

Reading is an everyday activity requiring the efficient integration of several central cognitive subsystems ranging from attention and oculomotor control to word identification and language comprehension. Effects of frequency, length and cloze predictability of words on reading times reliably indicate local processing difficulty of fixated words; also, a reader's expectation about an upcoming word apparently influences fixation duration even before the eyes reach this word. Moreover, this effect has been reported as non-canonical (i.e., longer fixation durations on word N when word N+1 is of high cloze predictability). However, this effect is difficult to observe because in natural sentences the fluctuations in predictability in content words are very small. To overcome this difficulty we investigated eye movements while reading proverbs as well as sentences constructed for high- and low-average cloze predictability. We also determined for each sentence a word at which predictability of words jumps from a low to high value. Fixation durations while reading proverbs and high-predictable sentences exhibited significant effects of the change in predictability along the sentence (when the successive word is more predictable than the fixated word). Results are in agreement with the proposal that cloze predictability of upcoming words exerts an influence on fixation durations via memory retrieval.
A Statistical Damage Constitutive Model for Geomaterials under Plane-Strain Biaxial Stress State

The mechanical behavior of geomaterials under plane-strain biaxial stress state (PSBSS, a special case of biaxial stress state) is often considered in geotechnical structures such as highwall and longwall coal pillars. In this study, a modified statistical damage constitutive model based on Weibull distribution was established to explain the mechanical behavior of rocks under the PSBSS. The modified Wiebols-Cook criterion, Drucker-Prager criterion, and extremum method were adopted in this model to estimate the peak strength of rock, the strength level of microscopic element, and the statistical parameters of model, respectively. Besides, laboratory tests for brittle and ductile geomaterials under PSBSS were conducted using the modified surface instability detection apparatus to validate the accuracy of the proposed statistical damage model. Finally, the relationships between mechanical parameters and statistical parameters were studied and discussed.
Bioclimatic techniques to quantify mitigation measures for climate change with specific reference to Pretoria

The purpose of this paper is to research the expected effect of climate change on South African cities, with specific reference to Pretoria. A bioclimatic analysis is used to quantify the most appropriate mitigation techniques for new and existing structures. With increased climate change, it is increasingly important that South African cities and buildings are resilient. Recent research predicts that Southern Africa can expect a temperature increase of between 4 °C and 6 °C in the hot western areas. Significant warming is expected in cities where high temperatures will be exacerbated by the Urban Heat Island (UHI) effect. In this research weather files were generated for the current climatic conditions of the three main climatic regions of Pretoria. Subsequently synthetic weather files were generated to quantify the effect of climate change up to the year 2100. An A2 climate change scenario of the Special Report on Emission Scenarios (SRES) for the period 1961-2100 was used. An A2 scenario can be described as business as usual. Recent research indicates that this is the most likely scenario for South Africa. Using these weather files a comprehensive bioclimatic analysis was firstly run to quantify the current appropriate passive design measures and secondly to determine changes caused by climate change. This was further analysed in relation to proposed passive design measures. The results indicate that a significant amount of mitigation is possible if the correct engineered bioclimatic design approaches are used and complimented by other beneficial building and urban techniques such as the use of cool roofs and urban vegetation.
Student understanding of Taylor series expansions in statistical mechanics

One goal of physics instruction is to have students learn to make physical meaning of specific mathematical ideas, concepts, and procedures in different physical settings. As part of research investigating student learning in statistical physics, we are developing curriculum materials that guide students through a derivation of the Boltzmann factor, using a Taylor series expansion of entropy. Using results from written surveys, classroom observations, and both individual think-aloud and teaching interviews, we present evidence that many students can recognize and interpret series expansions, but they often lack fluency with the Taylor series despite previous exposures in both calculus and physics courses. We present students' successes and failures both using and interpreting Taylor series expansions in a variety of contexts.