Miracle-dz/UniFAR-FTUs huggingface dataset:
An Approach Dealing with Wrist Singularity of Six-DOF Industrial Robots

This paper presents an engineering method for analyzing the kinematics and inverse kinematics of a kind of Six-DOF industrial robots. Firstly, we build an engineering coordinate system for this kind robot, and then get expressions of closed-form solutions to both kinematics and inverse kinematics. From the process of deducing the expressions of closed-form solutions, we can analyze common singularities existing in workspace. Lastly, we design programs for both kinematics and inverse kinematics and simulate the movement of this kind robot. This method, compared with the structures of traditional solutions, is easier and understandability by leading into two conceptions- the position end and the tool end. What is more significant is that the robot can move safely when the wrist is under the singularity by using transitional stage. The transitional stage can make the tool of the robot move a line without join angel sudden change. The program solves the problem that all domestic industrial robots can not move when the wrist is under the singularity. This program is realized successfully on the welding robot of SIASUN Corporation.
Study of Piezoelectric Cantilever Energy Harvesters

Over the last decade there has been a growing increase in research in the field of vibrational energy harvesting devices which convert ambient vibrational energy into electrical energy. The major application area for such devices is as power sources for wireless sensors, thereby replacing currently used batteries which suffer from a finite lifespan and pose environmental issues during disposal. This growing problem has motivated the development of new technologies for harvesting energy from the ambient environment. Piezoelectric energy harvesters (PEH) are under consideration as a means for converting mechanical energy, specifically vibration energy, to electrical energy, with the goal of realizing completely self-powered sensor systems. This paper presents a brief introduction to the piezoelectric cantliver beam energy harvester.
A 10 Years Old Child Presented with Hemiparesis and Moyamoya Disease – A Case Report

Introduction: In Moyamoya disease there is long standing, continuous developing occlusion of the arteries of Circle of Willis which leads to development of typical collateral vessels seen on cerebral angiogram. Moyamoya Disease was diagnosed on performing the MR Angiography. Child with Moyamoya disease presents with recurrent episodes of sudden hemiplegia that might occur at alternative sides. The disease is progressive and dynamic in children. Acute management of this disease is symptomatic. MR Angiography clinches the diagnosis and neurosurgical intervention with physiotherapy which may be required as a part of definitive management. Objectives: Our case brings forth the significance of considering Moyamoya Disease to be classic etiology for acute ischemic strokes in children. Case Report: We report a rare case of 10 year old female child who was admitted at our medical center for the complaints of transient ischemic attack & left side hemiparesis with left facial palsy. In respect to our case, surgical intervention was not considered due to having satisfactory response on the commencing medical management. Conclusion: Our case brings forth the importance of considering MMD to be classic etiology for acute ischemic strokes in children . MMD is main diagnosis when we evaluate the children with cerebrovascular events. To asses this non operative MR angiography is investigation of choice. For favourable outcome in children with Moyamoya disease the key is early diagnosis and management.
Transportation Infrastructure Construction and High-Quality Development of Enterprises: Evidence from the Quasi-Natural Experiment of High-Speed Railway Opening in China

High-quality development of the economy is an important guarantee for economic and business sustainability, and the construction of transportation infrastructure is an important channel to achieving high-quality development. Thus, we take the opening of China’s high-speed railway (HSR) as a quasi-natural experiment and use the difference-in-difference model to explore the impact and mechanism of HSR on firms’ high-quality development. By using the total factor productivity of enterprises as the proxy for high-quality development, the empirical results show that: (1) the opening of the HSR can significantly promote high-quality development of enterprises; (2) the quality of information disclosure plays a mediating role in such relationships; and (3) the impact of HSR on enterprises’ high-quality development is more significant for enterprises that are located in cities with better business environments. Overall, this research indicates that local infrastructure construction is an important factor to achieve high-quality development of enterprises as well as economic sustainability that cannot be ignored, and this conclusion will be helpful for corporate managers in enhancing the quality of information disclosure, as well as for local governments to attach more importance to optimizing business environments to achieve high-quality development and economic sustainability.
Simplified Analysis and Design of the Hydraulic Ram Pump

Hydraulic ram pumps are currently of interest because they make use of a renewable energy resource and are environmentally friendly. Ram pumps are particularly appropriate for use in the developing world as their construction is basic and robust and they are inexpensive and easy to install and maintain. Numerous attempts to analyse the complex behaviour of a ram pump system have been made in the past, but few have been successfully translated into simple design procedures and none have resulted in a general method for a ram pump of any size. The analytical approach adopted in the present paper assumes constant friction loss in the drive pipe during acceleration and concentrates on zero recoil conditions at which optimum pump performance occurs. Four simple and general design equations are derived which incorporate conservative assumptions for the critical velocity in the drive pipe and the effect of system losses. Design examples are given and design predictions compared with new and existing test results. Conclusions are drawn regarding the relevance of traditional drive pipe length–drive pipe diameter (L/D) and drive pipe length–supply head (L/H) ratios.
Moving From Indifference to Responsibility: Reframing Environmental Behavior Among College Students in Israel

Objectives: To examine the level of knowledge, attitudes, and behavior of students on topics related to climate change and the relationship between those variables. Methods: A cross-sectional study using an online questionnaire, including 704 students. Statistical analysis was performed using Pearson correlations, t-tests, one-way ANOVA, and regression models. Results: Only 42% of participants understood what climate change meant, and 14% indicated their indifference toward it. Students had a moderate level of knowledge about the impact of climate change, and their attitudes were moderately positive, yet they demonstrated poor environmental behavior. We found positive relationships between variables, with attitudes mediating the relationship between knowledge and behavior. Women demonstrated more pro-environmental behavior than men. Conclusions: Our results highlight the importance of raising awareness of climate change's effects and its mitigation. Pro-environmental behavior requires long-term thinking and priorities for the future rather than benefits in the present. Future environmental education campaigns should emphasize individual contributions to environmental impacts in the context of climate change, as well as environmentally relevant consumption habits. We suggest including an introductory reflective and emancipatory course in environmental studies in all departments, emphasizing public health aspects.
Differential population trends align with migratory connectivity in an endangered shorebird

Migratory connectivity describes the extent to which migratory species' populations are connected throughout the annual cycle. While recognized as critical for understanding the population dynamics of migratory species and conserving them, empirical evidence of links between migratory connectivity and population dynamics are uncommon. We analyzed associations between spatiotemporal connectivity and differential population trends in a declining and endangered migratory shorebird, the far eastern curlew (Numenius madagascariensis), with multiyear tracking data from across the Australian nonbreeding grounds. We found evidence of temporal and spatial segregation during migration and breeding: curlew from southeast Australia initiated northward migration earlier, arrived at breeding sites earlier, and bred at lower latitudes than curlew from northwest Australia. Analysis of land modification intensity revealed that populations from southeast Australia face greater human impacts compared to those from northwest Australia at both the breeding and nonbreeding grounds, a pattern that aligns with steeper population declines in southeast Australia. This alignment between migratory connectivity, human impacts, and differential population change highlights the importance of a full annual cycle approach to conservation that includes mitigating threats on the breeding grounds and better protecting nonbreeding habitats in Australia where far eastern curlew spend over half of each year.
Role of Trehalose Synthesis in Ralstonia syzygii subsp. indonesiensis PW1001 in Inducing Hypersensitive Response on Eggplant (Solanum melongena cv. Senryo-nigou)

Ralstonia syzygii subsp. indonesiensis (Rsi, former name: Ralstonia solanacearum phylotype IV) PW1001, a causal agent of potato wilt disease, induces hypersensitive response (HR) on its non-host eggplant (Solanum melongena cv. Senryo-nigou). The disaccharide trehalose is involved in abiotic and biotic stress tolerance in many organisms. We found that trehalose is required for eliciting HR on eggplant by plant pathogen Rsi PW1001. In R. solanacearum, it is known that the OtsA/ OtsB pathway is the dominant trehalose synthesis pathway, and otsA and otsB encode trehalose-6-phosphate (T6P) synthase and T6P phosphatase, respectively. We generated otsA and otsB mutant strains and found that these mutant strains reduced the bacterial trehalose concentration and HR induction on eggplant leaves compared to wild-type. Trehalose functions intracellularly in Rsi PW1001 because addition of exogenous trehalose did not affect the HR level and ion leakage. Requirement of trehalose in HR induction is not common in R. solanacearum species complex because mutation of otsA in Ralstonia pseudosolanacearum (former name: Ralstonia solanacearum phylotype I) RS1002 did not affect HR on the leaves of its non-host tobacco and wild eggplant Solanum torvum. Further, we also found that each otsA and otsB mutant had reduced ability to grow in a medium containing NaCl and sucrose, indicating that trehalose also has an important role in osmotic stress tolerance.
Biogenic silver nano sol–loaded spunlace fabric for wound dressing; mechanical and functional characterization

The biogenic silver nano sol (AgNS) is most suitable for biomedical applications due to its inherent properties. In the present investigation polyester (P), viscose (V) and polyester/viscose blend (50:50) (PV) spunlaced fabrics were coated with AgNS prepared using organic honey, manuka honey. The dip-coated fabric samples were found suitable for wound dressing purposes when evaluated layered wise for their mechanical properties. The layer-wise dispersion behavior of the V sample was found better than the P/V and P samples. In the case of the air permeability sample, P/V performed better compared to V and P samples. Water sorption ability of P/V and V are found suitable for wound dressing. The ultraviolet protection factor value of treated fabric found excellent when coated with only honey. Further, the AgNS loaded fabric exhibited good resistance against microbial organisms as revealed by the bromophenol blue stain.
A partial discharge monitor for the measurement of partial discharges in a high voltage plant by the transient earth voltage technique

Several proprietary discharge detectors are available that are suitable for measuring the magnitudes of the partial discharges in plants such as high voltage metalclad switchgear. Their main disadvantages are the high capital cost of the test equipment and the complexity of the testing procedure. When performing such tests, the plant must be switched out, connections must be made to the high voltage conductors of the plant under test and high voltages applied from a test set. A 'sanction for test' is therefore required. This overhead may be acceptable when testing primary or grid substations. However, for discharge measurements to be widely applicable it is essential that the tests can be made with the plant live and under load. The Transient Earth Voltage or TEV measurement technique has been developed to fulfil this requirement.
Design and fabrication of in-plane AFM probes with sharp silicon nitride tips based on refilling of anisotropically etched silicon moulds

In this paper a micromachining method for batch fabrication of in-plane atomic force microscope (AFM) probes that consist of a sharp silicon nitride tip on a monocrystalline silicon cantilever is presented. The tips are realized by conformal deposition of silicon nitride inside an anisotropically etched cavity inside a silicon wafer. The best measured radius of the sharp tips was 8 nm. Our fabrication method is fully compatible with silicon-on-insulator (SOI) micromachining, allowing a straightforward monolithic integration of the AFM probes with high-aspect-ratio monocrystalline silicon MEMS. The fabrication method allows for lateral cantilevers, which oscillate in the plane of the fabrication wafer. This allows for simple integration of micromechanical transducers, opening the way towards dedicated probes for high speed AFMs. To demonstrate the innovation potential of this method, three different probe designs were fabricated: a plane passive AFM probe, a probe with integrated electrostatic actuator, and a probe which allows scanning on vertical sidewalls. The passive probes were successfully tested in a commercial AFM set-up. Correct operation of the probes with integrated actuator was demonstrated by actuation under a laser vibrometer.
Bankruptcy Prediction with a Doubly Stochastic Poisson Forward Intensity Model and Low-Quality Data

With the record high leverage across all segments of the (global) economy, default prediction has never been more important. The excess cash illusion created in the context of COVID-19 may disappear just as quickly as the pandemic entered our world in 2020. In this paper, instead of using any scoring device to discriminate between healthy companies and potential defaulters, we model default probability using a doubly stochastic Poisson process. Our paper is unique in that it uses a large dataset of non-public companies with low-quality reporting standards and very patchy data. We believe this is the first attempt to apply the Duffie–Duan formulation to emerging markets at such a scale. Our results are comparable, if not more robust, than those obtained for public companies in developed countries. The out-of-sample accuracy ratios range from 85% to 76%, one and three years prior to default, respectively. What we lose in (data) quality, we regain in (data) quantity; the power of our tests benefits from the size of the sample: 15,122 non-financial companies from 2007 to 2017, unique in this research area. Our results are also robust to model specification (with different macro and company-specific covariates used) and statistically significant at the 1% level.
De Novo Assembly and Species-Specific Marker Development as a Useful Tool for the Identification of Scutellaria L. Species

Scutellaria L. (family Lamiaceae) includes approximately 470 species found in most parts of the world and is commonly known as skullcaps. Scutellaria L. is a medicinal herb used as a folk remedy in Korea and East Asia, but it is difficult to identify and classify various subspecies by morphological methods. Since Scutellaria L. has not been studied genetically, to expand the knowledge of species in the genus Scutellaria L. , de novo whole-genome assembly was performed in Scutellaria indica var. tsusimensis (H. Hara) Ohwi using the Illumina sequencing platform. We aimed to develop a molecular method that could be used to classify S. indica var. tsusimensis (H. Hara) Ohwi, S. indica L. and three other Scutellaria L. species. The assembly results for S. indica var. tsusimensis (H. Hara) Ohwi revealed a genome size of 318,741,328 bp and a scaffold N50 of 78,430. The assembly contained 92.08% of the conserved BUSCO core gene set and was estimated to cover 94.65% of the genome. The obtained genes were compared with previously registered Scutellaria nucleotide sequences and similar regions using the NCBI BLAST service, and a total of 279 similar nucleotide sequences were detected. By selecting the 279 similar nucleotide sequences and nine chloroplast DNA barcode genes, primers were prepared so that the size of the PCR product was 100 to 1000 bp. As a result, a species-specific primer set capable of distinguishing five species of Scutellaria L. was developed.
Cyberbullying-Victimization Overlap Among Chinese University Students: Does Network Structure Matter?

With widespread internet and social media use among youngsters, cyberbullying has emerged as a novel form of bullying. According to the routine activity and lifestyle theories, cyberbullying and victimization overlap significantly. However, the nature and mechanism of the overlap is not yet adequately understood. This study contributes to extant literature by investigating the role of network structure in cyberbullying-victimization overlap. Participants included 520 residential students from a single department of a Chinese university. This study applied prevalent, bivariate, and social network approach to investigate the overlap. Linear regressions with interactive terms are applied to investigate the moderating effect of network structure. First, the results revealed that the overlap phenomenon is robust against different approaches. Second, the findings demonstrated that indegree significantly moderates the effect of victimization on the perpetration of cyberbullying. Third, for betweenness and closeness, neither direct effect nor moderating effect, is statistically significant. Overall, cyberbullying-victimization overlaps among surveyed Chinese university students and social network may moderate the relationship between cyberbullying and victimization.
Enzyme and other biosensors: evolution of a technology

Since 1962, when the first enzyme electrode was reported, biosensors have been the focus of intensive research and have captured the interest and imagination of both the wider scientific and lay communities. They have a wide potential applicability encompassing both biomedical and industrial areas and offer a unique route to simplified, reagentless analysis. Financial savings in analysis are an important motivation force for biosensor development; this is no more so than in medical diagnostics, where, especially in the West and Japan, an upward demand for biomedical testing has contributed to escalating health care costs. More recently, it has been recognised that with biosensor based monitoring of biotechnological processes used in the food and drink industries, a substantial enhancement in efficiency is possible.
The Regularity of the Site of Impaction in Recurrent Gallstone Ileus: A Systematic Review and Meta-Analysis of Reported Cases

Objective Due to the rarity of recurrent gallstone ileus (RGSI), its epidemiological and clinical features are elusive. With a focus on mortality and the site of impaction, this study consolidates the key clinical characteristics of index GSI (IGSI) and RGSI. Methods A meta-analysis of cases reported on RGSI was performed. Risk factors for mortality and site of impaction were examined, and a subgroup analysis was performed for age, sex, and site of impaction (jejunum, ileum, or others). Results In the final analysis, 50 (56 individual cases) studies were included. The paired data for the site of impaction was available for 45 patients. Women accounted for 87.3% of all RGSI cases included in the pooled analysis. The median age (interquartile range, IQR) of the patients was 70 (63–76) years, and the median time of recurrence (IQR) was 20.5 (8.5–95.5) days. The overall mortality rate was 11.8%, without correlation between the mortality rate and age, the time of recurrence, or the site of impaction. The region in which the stone was found in RGSI and IGSI was similar in most cases (p=0.002). Logistic regression also revealed a higher probability of stone impaction in the ileum in RGSI if it was the site of impaction in IGSI. In most cases, enterolithotomy was the preferred method. Conclusions A high index of suspicion for RGSI should be maintained for older women with a history of GSI. The region where the stone was impacted during IGSI should be investigated first in such patients.
Experimental Work With Photonic Band Gap Fiber: Building A Laser Electron Accelerator

In the laser acceleration project E‐163 at the Stanford Linear Accelerator Center, work is being done toward building a traveling wave accelerator that uses as its accelerating structure a length of photonic band gap fiber. The small scale of the optical fiber allows radiation at optical wavelengths to be used to provide the necessary accelerating energy. Optical wavelength driving energy in a small structure yields higher accelerating fields. The existence of a speed‐of‐light accelerating mode in a photonic band gap fiber has been calculated previously. This paper presents an overview of several of the experimental challenges posed in the development of the proposed photonic band gap fiber accelerator system.
COMPACT M-SLOT FOLDED PATCH ANTENNA FOR WLAN

This paper presents a very small size microstrip antenna suitable for WLAN application. The main patch antenna consists of an M-shaped slot with shorting wall. With a shorted triangular parasitic patch and a folded patch overall antenna size is reduced. The simulated and measured results show that by selecting a proper shorting wall width, the proposed antenna can provide an impedance bandwidth of 21.17% covering the 4.93–6.09 GHz band. The antenna size is of order 0. 1094λo × 0. 1094λo × 0. 0544λo (6 × 6 × 3 mm3). The proposed antenna has 75% surface size reduction compared to a conventional patch antenna operating at the same centre frequency. The Eand H-plane radiation pattern across the entire operating bandwidth is provided.