Miracle-dz/UniFAR-FTUs huggingface dataset:
Path Tracking of a Four-Wheel Independently Driven Skid Steer Robotic Vehicle Through a Cascaded NTSM-PID Control Method

Four-wheel independently driven skid steer robotic vehicles (IDSSRVs) have been widely applied in many fields. However, limited by small size and low power consumption, many sensors and high-performance processors cannot be equipped into four-wheel IDSSRVs, which makes path tracking more complex. The nonsingular terminal sliding mode (NTSM) is a good choice for small robotic vehicles because of its strong robustness, fast convergence, and low complexity. However, the performance of the NTSM is easily affected by vehicular weight and road friction because a four-wheel IDSSRV has no steering devices and its driving behavior is completed by adjusting the velocity of the four wheels based on the wheel–ground interaction. Furthermore, a minor instability caused by the output difference of the motors can bring extra torque on the vehicle and ultimately lead to a tracking deviation for the NTSM controller. To resolve these problems, a dynamic model of a four-wheel IDSSRV is analyzed first. Subsequently, a cascaded NTSM-proportional–integral–derivative (PID) method is proposed, in which a conversion function based on compensating the sideslip angle is raised to improve the NTSM controller performance of antidisturbance and tracking accuracy with the limitations of the sensors and processors, and a joint PID controller simultaneously optimizing the motor output error and vehicular yaw error is designed to eliminate the imbalance of motor output and to reduce the deviation of the NTSM controller. Finally, comparative experiments are conducted, and the results highlight the benefits of the proposed approach by reducing the tracking error by approximately 80% compared with the dynamic model predictive control (MPC) method and reducing the tracking error by over 30% compared with the pure NTSM method.
Topological Properties of Degree-Based Invariants via M-Polynomial Approach

Chemical graph theory provides a link between molecular properties and a molecular graph. The M-polynomial is emerging as an efficient tool to recover the degree-based topological indices in chemical graph theory. In this work, we give the closed formulas of redefined first and second Zagreb indices, modified first Zagreb index, nano-Zagreb index, second hyper-Zagreb index, Randić index, reciprocal Randić index, first Gourava index, and product connectivity Gourava index via M-polynomial. We also present the M-polynomial of silicate network and then closed formulas of topological indices are applied on the silicate network.
A Renewed Appreciation of Helicoverpa armigera Nucleopolyhedrovirus BJ (Formerly Helicoverpa assulta Nucleopolyhedrovirus) with Whole Genome Sequencing

Helicoverpa assulta is a pest that causes severe damage to tobacco, pepper and other cash crops. A local strain of HearNPV-BJ (formerly Helicoverpa assulta nucleopolyhedrovirus (HeasNPV-DJ0031)) was isolated from infected H. assulta larvae in Beijing, which had been regarded as a new kind of baculovirus in previous studies. Describing the biological characteristics of the strain, including its external morphology, internal structure and the pathological characteristics of the infection of various cell lines, can provide references for the identification and function of the virus. HearNPV-BJ virion was defined as a single-nucleocapsid nucleopolyhedrovirus by scanning electron microscopy. QB-Ha-E-5 (H. armigera) and BCIRL-Hz-AM1 (H. zea) cell lines were sensitive to HearNPV-BJ. Undoubtedly modern developed sequencing technology further facilitates the increasing understanding of various strains. The whole genome sequence of the HearNPV-BJ was sequenced and analyzed. The HearNPV-BJ isolate genome was 129, 800 bp nucleotides in length with a G + C content of 38.87% and contained 128 open reading frames (ORFs) encoding predicted proteins of 50 or over 50 amino acids, 67 ORFs in the forward orientation and 61 ORFs in the reverse orientation, respectively. The genome shared 99% sequence identity with Helicoverpa armigera nucleopolyhedrovirus C1 strain (HearNPV-C1), and 103 ORFs had very high homology with published HearNPV sequences. Two bro genes and three hrs were found to be dispersed along the HearNPV-BJ genome. Three of the highest homologs, ORFs with HearNPV, were smaller due to the earlier appearance of the stop codon with unknown functions. P6.9 of HearNPV-BJ, a structural protein, is distinctly different from that of Autographa californica nucleopolyhedrovirus (AcMNPV); its homology with the corresponding gene in HearNPV-C1 was 93.58%. HearNPV-BJ contains 38 core genes identified in other baculoviruses, and phylogenetic analysis indicates HearNPV-BJ belongs to Alphabaculovirus Group II, same as HearNPV-C1. The resulting data provide a better understanding of virion structure, gene function and character of infection. By supplementing the whole-genome sequencing data and Kimura-2 model index, there is more evidence to indicate that HearNPV-BJ may be a variant of Helicoverpa armigera nucleopolyhedrovirus, which also deepens our understanding of the virus species demarcation criteria.
SLAM algorithm based on bounding box and deep continuity in dynamic scene

: To solve the problems of low positioning accuracy and poor robustness caused by the inability of Simultaneous Localisation and Mapping (SLAM) algorithm to deal with dynamic targets in dynamic scenes, a SLAM algorithm based on bounding box and depth continuity in dynamic scenes is proposed. Firstly, the pixel random search filling process is carried out in combination with the depth and the bounding box to obtain the pixel-level segmentation result of the prior dynamic target. Then, the dynamic features are screened to eliminate the influence of dynamic targets. According to the screening results, relative static features which can be used for posture optimisation are selected. Posture optimisation is carried out by combining the static features to obtain the optimised camera posture. All experimental results show that the proposed algorithm significantly improves the positioning accuracy and real-time performance of SLAM algorithm in complex dynamic scenes.
PRMT5 Interacting Partners and Substrates in Oligodendrocyte Lineage Cells

The protein arginine methyl transferase PRMT5 is an enzyme expressed in oligodendrocyte lineage cells and responsible for the symmetric methylation of arginine residues on histone tails. Previous work from our laboratory identified PRMT5 as critical for myelination, due to its transcriptional regulation of genes involved in survival and early stages of differentiation. However, besides its nuclear localization, PRMT5 is found at high levels in the cytoplasm of several cell types, including oligodendrocyte progenitor cells (OPCs) and yet, its interacting partners in this lineage, remain elusive. By using mass spectrometry on protein eluates from extracts generated from primary oligodendrocyte lineage cells and immunoprecipitated with PRMT5 antibodies, we identified 1196 proteins as PRMT5 interacting partners. These proteins were related to molecular functions such as RNA binding, ribosomal structure, cadherin and actin binding, nucleotide and protein binding, and GTP and GTPase activity. We then investigated PRMT5 substrates using iTRAQ-based proteomics on cytosolic and nuclear protein extracts from CRISPR-PRMT5 knockdown immortalized oligodendrocyte progenitors compared to CRISPR-EGFP controls. This analysis identified a similar number of peptides in the two subcellular fractions and a total number of 57 proteins with statistically decreased symmetric methylation of arginine residues in the CRISPR-PRMT5 knockdown compared to control. Several PRMT5 substrates were in common with cancer cell lines and related to RNA processing, splicing and transcription. In addition, we detected ten oligodendrocyte lineage specific substrates, corresponding to proteins with high expression levels in neural tissue. They included: PRC2C, a proline-rich protein involved in methyl-RNA binding, HNRPD an RNA binding protein involved in regulation of RNA stability, nuclear proteins involved in transcription and other proteins related to migration and actin cytoskeleton. Together, these results highlight a cell-specific role of PRMT5 in OPC in regulating several other cellular processes, besides RNA splicing and metabolism.
Environmental Effects on Viable Virus Transport and Resuspension in Ventilation Airflow

To understand how SARS-CoV-2 spreads indoors, in this study bovine coronavirus was aerosolized as simulant into a plexiglass chamber with coupons of metal, wood and plastic surfaces. After aerosolization, chamber and coupon surfaces were swiped to quantify the virus concentrations using quantitative polymerase chain reaction (qPCR). Bio-layer interferometry showed stronger virus association on plastic and metal surfaces, however, higher dissociation from wood in 80% relative humidity. Virus aerosols were collected with the 100 L/min wetted wall cyclone and the 50 L/min MD8 air sampler and quantitated by qPCR. To monitor the effect of the ventilation on the virus movement, PRD1 bacteriophages as virus simulants were disseminated in a ¾ scale air-conditioned hospital test room with twelve PM2.5 samplers at 15 L/min. Higher virus concentrations were detected above the patient’s head and near the foot of the bed with the air inlet on the ceiling above, exhaust bottom left on the wall. Based on room layout, air measurements and bioaerosol collections computational flow models were created to visualize the movement of the virus in the room airflow. The addition of air curtain at the door minimized virus concentration while having the inlet and exhaust on the ceiling decreased overall aerosol concentration. Controlled laboratory experiments were conducted in a plexiglass chamber to gain more insight into the fundamental behavior of aerosolized SARS-CoV-2 and understand its fate and transport in the ambient environment of the hospital room.
Phylogenomics of the Aphididae: Deep relationships between subfamilies clouded by gene tree discordance, introgression and the gene tree anomaly zone

Aphids (Hemiptera: Aphididae) are a lineage of ~5200 plant‐feeding insects most abundant in temperate regions. The diversification of aphids is thought to be a rapid radiation, whereas abiotic and biotic factors heavily influence the morphologies. These factors have clouded the taxonomy at all taxonomic ranks, and the effect can be viewed in many incongruent molecular and morphological phylogenies. In this study, we address this problem using both genome and transcriptome data to estimate the phylogenomic relationships between 12 subfamilies with 48 ingroup taxa. We predicted a novel well‐curated dataset of phylogenetically consistent orthologues that included 3162 genes to estimate a concatenated maximum likelihood and multi‐species coalescent species trees. Our results suggest that there are three main clades of Aphididae subfamilies, which are congruent with a previous Sanger sequencing‐based phylogenetic study. However, the relationship between the three clades of subfamilies is clouded by gene tree discordance, introgression and parent–child branches along the backbone that fall within the gene tree anomaly zone. In addition, our results suggest an introgression event between two agriculturally important species of aphids within the subfamily Aphidinae. Our research provides the first phylogenomic study of the Aphididae subfamilies and a foundation for future molecular and morphological studies into this adaptive radiation of insects.
Integrated Analysis of Ulcerative Colitis Revealed an Association between PHLPP2 and Immune Infiltration

Ulcerative colitis (UC) is a progressive intestine inflammatory disease that is prone to recur. Herein, we utilize microarray technology and bioinformatics to reveal the underlying pathogenesis of UC and provide novel markers. Colonic biopsies were taken from eight UC patients and eight healthy controls. Three differentially expressed miRNAs (DEMIs) and 264 differentially expressed genes (DEGs) were screened using mRNA and miRNA microarray. Most DEGs were significantly associated with immune response and were markedly enriched in the IL-17 signaling pathway. Among the target genes of DEMIs, PHLPP2 overlapped with DEGs and the downregulation of PHLPP2 group was mainly involved in the epithelial–mesenchymal transition. PHLPP2 was downregulated in UC patients, which was validated in 5 GEO datasets and qRT-PCR. The ROC curve demonstrated that PHLPP2 has a perfect ability to distinguish UC patients from healthy controls. Moreover, PHLPP2 was low expression in patients with active UC. CIBERSORT algorithm indicated that the abundance of gamma delta T cells (P = 0.04), M0 macrophages (P = 0.01), and activated mast cells (P < 0.01) was significantly greater than that of the control group. The Spearman correlation analysis showed that PHLPP2 was positively correlated with the proportion of activated NK cells (rho = 0.62, P = 0.013) and Tregs (rho = 0.55, P = 0.03), but negatively correlated with those of activated mast cells (rho = −0.8, P < 0.01) and macrophages (rho = −0.73, P < 0.01). These results indicate that PHLPP2 is associated with immune cells in the pathogenesis of UC, as well as provide new prospects and future directions of investigation.
Numerical Methods: Fast Multipole Method for Shielding Effects

The aim of this study is the numerical simulation of installation effects on acoustic radiation of aircraft power plant systems, taking into account all surfaces involved in airframe/engine interaction. More precisely, we are interested in determining the delta in acoustic pressure level and directivity for different deflected angles of the flaps. Compared to the numerical assessment of noise radiation of an isolated engine, the computational domain is becoming very large in terms of wavelengths. It is for this reason that a new methodology has been developed. The principle of the method lies in the breakdown of the initial problem, and so the initial study domain, into two non-connected parts: the first one contains the power plant system, the second one contains the rest of the aircraft. In the first domain, we use a conventional Boundary Element Method (BEM) code. In the second domain a modified BEM code is used: based on Fast Multipole Method (FMM), this code provides a drastic reduction of data storage and computational time. That is the reason why the code is appropriate to the large computational domain. The first step of the methodology presented here is a weak-coupling formulation as only flap position effects are studied.
Inequality in Cosmetic Services and Surgery among Iranian Households in 2019: A Decomposition Analysis

Background The demand for cosmetic surgery is on the rise worldwide, making it the common form of surgery globally while the use of cosmetic surgery being exponentially high in Iran. The aim of this study was to investigate inequality in the use of cosmetic services and surgery (CSS) among Iranian households concerning demographic and socio-economic characteristics. Methods This study used data of 38960 Iranian household from the income-expenditure survey of the statistical center of Iran (SCI) in 2019. Concentration index (C) was used to measure inequalities in the use of CSS. Microsoft Excel sheet 2019 was used to extract the data, and the analysis was performed using Stata statistical package version 14.2. Results Households with female head, with single head, households with 3 - 4 people, headed with undergraduate education person, households with insurance coverage, with higher socio-economic quintiles, rural households and residents of northwestern Iran were accounted for the highest use of CSS. Also, according to the decomposition analysis, wealth and education level are the two main factors in creating inequality, with wealth, having the highest positive share (88.11%) and education level having the most negative share (-5.26%) in creating measured inequality. Conclusion The use of CSS is more concentrated in well-off households in Iran. As the resources of health system are limited, the government and the policy makers should have defined plans with regards to CSS use especially taking factors like socioeconomic status and education status of target groups in to account.
On-Line Fault Protection for ReRAM-Based Neural Networks

The emerging Resistive RAM (ReRAM) technology significantly boosts the performance and the energy efficiency of the deep learning accelerators (DLAs) via the Computing-in-Memory (CiM) architecture. However, ReRAM-based DLA also suffers a high occurrence rate of memory faults. How to detect and protect against the faults in ReRAM devices poses great challenges to ReRAM-based DLA design. In this work, we propose RRAMedy, an in-situ fault detection and network remedy framework for ReRAM-based DLAs. With the proposed Adversarial Example Testing, which is a lifetime on-device and on-line fault detection technique, it achieves high detection coverage of both hard faults and soft faults at a low run-time cost. In addition, it employs an edge-cloud collaborative model retraining method to tolerate the detected faults by leveraging the inherent fault-adaptive capability of DNNs. Meanwhile, to enable in-situ model remedy when the cloud assistance is absent due to security or overhead issues, we propose to accelerate the fault-masking retraining process on edge devices with parallelized Knowledge Transfer. Our experimental results show that the proposed fault detection technique achieves high fault detection accuracy and delivers real-time testing performance. Meanwhile, the proposed retraining approach greatly alleviates the accuracy degradation problem and achieves excellent performance speedups over the baselines.
Meandered with Parasite Patch Antenna for Partial Discharge Detection Applications

A 10x10 cm patch antenna has been designed at frequency 200MHz as to suit Partial Discharge (PD) energy wave propagation in a VHF range. The return loss is below -25dB and the bandwidth is 208MHz. The radiation pattern of the antenna is omni-directional. The antenna gain is 0.57dB with 75.2% efficiency. The optimization process and design procedure are carried out by using CST Microwave Studio software. Simulation and measurement result are closely satisfied to each other. This antenna is practically suitable to Partial Detection application. All of the results can be used for further investigation.
Comparison of Band-stop FIR Filter using Modified Hamming Window and Other Window functions and Its Application in Filtering a Mutitone Signal

In this paper Matlab program is used to implement a Band-stop FIR filter using modified coefficient of the Hamming window function and its application in filtering a Multitone input signal. FIR filter designed using modified coefficient of the Hamming window function provides smaller main lobe width and sharp transition band compare to Hamming window. This type of filter plays very important role in spectral analysis of different types of signal. In spectral analysis applications a small main lobe width of the window function in frequency domain is required for increasing the ability to distinguish two closely spaced frequency components. Experimental results show that the band frequency component of the mixed input signal successively eliminates by using this band-stop FIR filter. Comparison of band-stop FIR filter using modified window, Hanning window and Hamming window are shown in fig. Further, we compare of the input and output signal in frequency and time domain using modified window, Hanning window and Hamming window functions. The simulation results show that the filter designed using modified window function is more efficient than Hanning and Hamming window function.
Motion planning for efficient and safe module transportation in modular integrated construction

Modular integrated construction (MiC) is the most advanced construction method that involves off‐site manufacturing, factory‐to‐site transportation, and on‐site assembly of free‐standing integrated modules. Despite the growing interest in the manufacturability of MiC, little research is available on the passing ability issues where efficient and safe transportation of modules is critical to the project's success. This paper proposes (1) a novel computational method for formulating and solving the module's horizontal passing ability with road constraints as a motion planning problem and (2) a new index to assess the path performance in critical scenarios. The newly developed Truck‐Parallelized Hybrid A Star (TP‐Hybrid A*) has novelties in collision checking, cost function formulation, and parallel computing on different vehicle dimensions. The effectiveness of the developed algorithm was experimentally verified to be superior to the rapid random tree in computation time and path performance and further demonstrated by applying it to a real‐life MiC project. The new index can serve as a useful tool for decision‐making in module dimension design and transportation planning of MiC projects when tackling the module's horizontal passing ability issues.
Aircraft Combat Survivability Estimation and Synthetic Tradeoff Methods

A new concept is proposed that susceptibility, vulnerability, reliability, maintainability and supportability should be essential factors of aircraft combat survivability. A weight coefficient method and a synthetic method are proposed to estimate aircraft combat survivability based on the essential factors. Considering that it takes cost to enhance aircraft combat survivability, a synthetic tradeoff model between aircraft combat survivability and life cycle cost is built. The aircraft combat survivability estimation methods and synthetic tradeoff with a life cycle cost model will be helpful for aircraft combat survivability design and enhancement.
The Effect of Supervisor’s Abuse on Hotel Employees’ Job Satisfaction, Affective Organizational Commitment and Work Engagement

ABSTRACT Our study examines the impact of abusive supervision on affective organizational commitment (AOC). The study further examines work engagement (WENG) and job satisfaction (JSAT) as mediating mechanisms in the relationship between abusive supervision and AOC. The aforesaid hypothesized relationships were tested utilizing data gathered from frontline employees in upscale hotels in two waves in Ghana. We tested the hypothesized relationships using structural equation modeling. The findings reveal that abusive supervision is not significantly related to AOC. However, the findings demonstrate that WENG and JSAT fully mediate the relationship between abusive supervision and AOC. Theoretical and practical implications of the findings are discussed.
Construction strategy of using solar water heater in tall apartment building

Solar water heaters have been widely used,but the combination with the high-rise building has not been solved perfectly.Through analyzing the current design of tall apartment building and water heater application,this paper provides a solution from the architectural point of view.It analyzes the specific method from the form of system,collector installation,water tank setting,conduit shaft setting,and analyzes the advantages and disadvantages.
NEAR END LISTENING ENHANCEMENT CONSIDERING THERMAL LIMIT OF MOBILE PHONE LOUDSPEAKERS

In mobile telephony, listening enhancement is desired by the near end listener who perceives not only the clean far end speech but also ambient background noise. A typical scenario is mobile telephony in acoustical background noise such as traffic or babble noise. During continuous playback the thermal load of the small loudspeakers is a major limitation. In this contribution, we adapt two previous approaches to this constraint. Further- more, the impact of a new speech PSD estimator and state-of-the-art noise PSD tracking algorithms on the system performance is evaluated.