Miracle-dz/UniFAR-FTUs huggingface dataset:
Obstacle Detection for Driverless Trucks in Industrial Environments

In this paper we present a new and uniform way of evaluate 3D sensor performance. It is rare that standardized test specifications are used in research on mobile robots. A test rig with objects in the industrial safety standard Safety of industrial trucks - driverless trucks and their systems EN1525 is extended by thin vertical and horizontal objects that represent a fork on a forklift, a ladder and a hanging cable. A comparison of atrinocular stereo vision system, a 3D TOF (Time- Of-Flight) range camera and a Kinect device is made to verify the use of the test rig. All sensors detect the objects in the safety standard EN1525. The Kinect and 3D TOF camera shows reliable results for the objects in the safety standard at distances up to 5 m. The trinocular system is the only sensor in the test that detects the thin structures. The proposed test rig can be used to evaluate sensors to detect thin structures.
Design and analysis of engine timing silent chain system

Based on the meshing principle of silent chain and the structure of an automobile engine, timing silent chain system including involute tooth sprocket, guide plate, tension plate, and silent chain is designed in this paper. Dynamics analysis model is built, and vibration of the chain system is studied. The link tensile force and the contact force between link and other components, and the transmission error of crankshaft sprocket and exhaust camshaft sprocket are analyzed. The design and analysis method of the timing silent chain system is proposed. The wear elongation of the timing silent chain system is studied through the road test. The wear morphology of the link plate and pin working surface are observed. Analysis results show that the design method of the timing silent chain system is feasible. The major wear mechanism of the pin is fatigue wear, and the major wear mechanism of the link plate is fatigue wear and abrasive wear. The results of the dynamic simulation and the experimental research show that the design and analysis method of timing silent chain system is scientific and feasible, and wear resistant of the timing silent chain system is high.
Towards a logic and chemical based coordination model

In this paper we propose a coordination model that integrates logic programs into a chemical-based coordination framework. The goal is to engineer self-organising systems as well as assess their emergent global properties. Our model is generic and accommodates various logics and it is also powerful enough to supersede various chemical-based approaches. By tuning the internal logic language we can tackle and solve coordination problems in a rigorous way, without renouncing to important engineering properties such as compactness, modularity and reusability of code. We present our logic-based coordination model and we shows how to engineer well-know self-organising mechanisms and how to assess their corresponding emergent properties.
Minimizing the Impact of Changes to UML Class Diagrams on Existing Java Implementations

Model Driven Development (MDD) is considered as a powerful emerging paradigm for developing system software and services. MDD relies heavily on the models to generate part of the code for implementation. It is virtually inevitable that changes at the model level result in breaking the compatibility with the existing code base. The study presented in this thesis is performed in an industrial setting. Our industrial partner is involved in MDD and has experienced compatibility problems described above. The aim of this thesis is to identify the changes that can be made to UML class diagram and investigate what kind of negative impact they pose on the compatibility with already existing Java implementations. Apart from identifying possible model changes and assessing their negative impact the thesis provides suggestions and guidelines of how to perform such modifications so that their negative impact will be minimized.
Adaptive Dynamic Walking and Motion Optimization for Humanoid Robots

of a dissertation at the University of Miami. Dissertation supervised by Professor Ubbo Visser. No. of pages in text. (194) An essential ability of a robot is to act in its environment by generating motions for locomotion or manipulation. This can be a challenging problem on a robot with high degrees of freedom. Although biped robots have shown drastic improvements with regard to motion skills over the past few years, many approaches for generating motions still require tedious and time-consuming manual calibration due to variances in the hardware or inaccurate sensors and actuators. This research focuses on generating motions for humanoid robots automatically without manual calibration. The first approach discussed uses parameter optimization (e.g. CMA-ES, PSO) to directly optimize the joint angle trajectories for various motions. Using optimization we produce motions for NAO robots in the RoboCup 3D Soccer Simulation League that are far superior to hand tuned motions or stabilize motions generated from noisy motion capture data from a Microsoft Kinect. The second part describes a dynamically generated closed-loop gait for simulated and physical NAOs using a linear inverted pendulum model (LIPM), which keeps the zero moment point (ZMP) within given constraints. This is a common approach, but due to variances in the hardware and environment it still requires manual fine-tuning. Our experiments show that the model errors can be reduced by optimizing parameters of the model using the observed behavior while walking. Improving the model produces better predictions of the robots behavior which yields a more stable walk without requiring manual calibration.
Studies on Structural, Morphological, Local Electrical, Optical and Magnetic Properties of Iron Site Manganese Substituted Yttrium Orthoferrite

Yttrium orthoferrite (YFeO3) is of considerable interest for its potential application in magnetic field sensors and magneto optical data storage devices. Doping is one of the effective approaches to tune the compound properties. And it is important to determine the doping sites of the dopants to better understanding the related mechanism. In this work, Manganese (Mn) doped YFeO3, i.e., YFMxO powders with 0 ≤ x ≤ 0.1 were synthesized by hydrothermal method to study the influences of doping on their structural, morphological, local electrical, optical and magnetic properties. The experimental results show that Mn dopants occupy Iron (Fe) sites and that all these samples exhibit an orthorhombic structure with space group Pnma. Refined structure parameters are presented. Morphology images show the shape evolution from layered to multilayered with increasing Mn content. The Fe and Y K-edge local structure studies indicate that the valency of Fe and Y is mainly found in trivalent state, which also indicate that substitution of Mn ions not only affects the nearest neighbor atomic shell of Fe but also affects the nearest neighbor’s local structure of Y atoms. IR spectra reveal the characteristic vibrations of the obtained YFMxO samples. From the magnetic study, it is observed that the substitution of Y ions by Mn ions changes the magnetic property of YFeO3 from ferromagnetic to paramagnetic. Our results show that the addition of Mn exhibits an evident influent on the local structural and magnetic properties.
Seismic Evaluation of Bridges on and over the Parkways in Western Kentucky--Summary Report

This report (KTC-07-02/SPR246-02-1F) provides an overall summary on the seismic investigative study performed on bridges on/over the five parkways in Western Kentucky. The comprehensive study was further divided into the followings tasks, each reported separately as follows: (1) The first report of this study (KTC-07-03/SRP246-02-2F) involved data collection and field inspection of bridges on/over the parkways. The resulting inventory contains data of three hundred fifty-one (351) bridges on/over the parkways, detailing their construction type, soil profile, present condition, etc. (2) In KTC-07-04/SPR246-02-3F, a preliminary seismic evaluation and ranking was performed on all bridges within the inventory. Details of the evaluation and ranking procedure are outlined. In this task seventeen (17) bridges, that are deemed susceptible to major earthquakes, were identified. (3) Detailed seismic evaluations of the seventeen (17) bridges were subsequently carried out using time-history analysis for a projected 250-year seismic event. The results of the analysis are presented in KTC-07-05/SPR246-02-4F. (4) KTC-07-06/SPR246-02-5F presents the preliminary evaluation and ranking of bridge embankments along the parkways. (5) The last report, numbered KTC-07-07/SPR246-02-6F, provides the latest seismic hazard maps for the expected earthquake (EE), probable earthquake (PE), and maximum credible earthquake (MCE), which will be used in seismic analysis and design of highway infrastructures in Kentucky.
COVID-19: Combating the Pandemic One Year on - Street Wise or Street Science?

The article will probe the measures implemented on public irrespective of age group, gender and other social markers developed in the earlier article which are aimed at “catching and isolating” positive testers as early as possible whilst the preventative practices remain broadly street based, i.e. wash-mask-no contact. The street science that governs these implementations rely on the statistical paradigm that if the human to human spreading is not kept below the reproduction rate factor of Ro=1, then the positive cases will continue to multiply in geometric progression resulting an exponential increase in hospitalization cases. There appears to be no independent scientific check of these hypotheses accept by the accumulation of statistical data sets of the increase in positive test results which show significant variations in regions and countries as the number of tests carried out multiply also in geometric progression. In the meantime, minimal laboratory science information is released to general public whilst a significant number of vaccine trials across the world are held and with some already registered as officially approved by different governments. Given the availability of high volumes of test and trace data available globally and the very large numbers of vaccine trials being held across the globe, what is preventing the curtailment of the spread of the virus? A tentative framework is presented based on neural network constructions of the connectivity of the laboratory and demographic (street- based) scientific data sets that could explain the apparent lack of rapid progress in combating the spread of COVID-19 almost one year on.
Additive manufacturing: a new approach for individualized optical shape metrology

In general in industrial manufacturing a larger lot size gives the potential to decrease the production costs. There is however also a big demand on individualization in order to cover all customer requirements. These individual requests of a customer lead to a production complexity and cannot always be covered within the current manufacturing processes sufficiently. In metrology we can see an equivalent situation. A metrology tool should be suitable for a large variety of parts. E.g. in shape metrology, the tool should be able to measure any kind of shapes (spheres, tips, steps, etc.). As a standard measurement tool is not adjusted to an individual measurement task, the best performance is not reached equal wise for all shapes. In this paper we want to present a new approach for shape metrology of parts, fabricated in small lots: the individualized optical metrology based on additive manufacturing. Thereby the main idea is that the sampling signal of an optical metrology tool is individually adapted to the shape of the object to be inspected. This can be reached by an individual design of the optics, leading to a complex shape of the optical components. In order to manufacture these complex shaped optical parts, additive manufacturing (3D printing) is used.
The circRNA DENND4C/miR-145-5p/HOXA9 Pathway Regulates Tumor Growth and Bone Metastasis in Breast Cancer

BackgroundCircular RNAs (circRNAs) are involved in the occurrence and development of breast cancer bone metastasis. This study aims to identify whether the circRNA DENND4C/ miR145-5p/HOXA9 axis is involved in the regulation of cell invasion and migration and breast cancer progression.MethodscircRNA DENND4C, miR-145-5p and HOXA9 expression was measured in serum samples from healthy volunteers, breast cancer patients without bone metastasis and breast cancer patients with bone metastasis. Moreover, we analyzed the levels of circRNA DENND4C, miR‑145-5p and HOXA9 according to different conditions of differentiation, tumor volume and lymph node metastasis. The online software starBases and the dual-luciferase reporter gene assay were used to predict the relationship miR-145-5p, circRNA DENND4C and HOXA9 mRNA. MTT assays were performed to assess the effect of circRNA DENND4C on proliferation. To assess the proliferation of breast cancer cells among different groups. Statistical significance was determined byStudent's t‑test which was used for comparisons between two groups and one‑way analysis of variance followed by Tukey's post hoc test for comparisons between more than two groups.ResultsThe expression patterns of circRNA DENND4C, miR145-5p and HOXA9 were altered in patients with breast cancer bone metastasis. Notably, the stimulatory effects of circRNA DENND4C overexpression on HOXA9 were eliminated by miR-145-5p upregulation. circRNA DENND4C overexpression promotes proliferation, migration and invasiveness by regulating the miR-145-5p/HOXA9 axis. circRNA DENND4C downregulation suppresses proliferation, cell viability and invasiveness by regulating the miR-145-5p/HOXA9 axis. ConclusionOur study suggest that circRNA DENND4C/miR-145-5p/HOXA9 pathway was involved in tumor growth and bone metastasis in breast cancer. This findings may facilitate the development of potential therapeutic agents to improve the prognosis of patients with breast cancer bone metastasis.
Children's Learning in Primary Schools: A guide for Teaching Assistants

1. An introduction 2. Different types of learning 3. Barriers to learning 4. Before the subjects begin - the early years 5. Art, Craft and Design 6. Citizenship 7. Design and Technology 8. English 9. Geography 10. History11. Information and Communication Technology (ICT) 12. Mathematics 13. Modern Foreign Languages (MFL) 14. Music 15. Physical Education (PE) 16. Personal, Social, Health and Economic Education (PSHE Education) 17. Religious Education (RE) 18. Science
Making Sense of Chronic Kidney Disease in Primary Care – Identification, Evaluation and Monitoring

DR TEO BOON WEE Division of Nephrology, Department of Medicine National University Hospital Department of Medicine, NUS Yong Loo Lin School of Medicine ABSTRACT Primary care providers are often the first to diagnose chronic kidney disease (CKD). CKD progression is associated with significant morbidity, mortality and cost to the public healthcare system. Prompt and appropriate initial evaluation of CKD, recognition of its complications, and instituting appropriate treatment will delay CKD progression and associated adverse outcomes.
Designed Ecologies: The Landscape Architecture of Kongjian Yu

Kongjian Yu and his office Turenscape are beyond doubt the foremost landscape architecture practice in China today. The vast scale of China and her apparently boundless growth have enabled Yu to test many ideas that are still largely theories in the Western world. His work - increasingly valued and appreciated in Europe and North America - has attained an extremely high and elegant level in both conception and execution. Kongjian Yu is known for his ecological stance, often against the resistance of local authorities. His guiding design principles are the appreciation of the ordinary and a deep embracing of nature, even in its potentially destructive aspects, such as floods. Among his most acclaimed projects are Houtan Park for Shanghai Expo, the Red Ribbon Park in Qinhuangdao, and Shipyard Park in Zhongshan. This book explores Yu's work in some ten essays by noted authors and documents ten major projects extensively. Kongjian Yu und sein Buro Turenscape sind zweifelsohne das heute wichtigste Buro fur Landschaftsarchitektur in China. Die Grosse Chinas und das schier grenzenlose okonomische Wachstum haben Yu gleichsam laborartige Arbeitsbedingungen beschert: Konzepte, die von westlichen Landschaftsarchitekten nur theoretisch erortert werden, wurden hier dem Praxistest unterworfen. Kongjian Yus Arbeiten - auch in Europa und Nordamerika zunehmend bekannt und geschatzt - sind von grosser Eleganz und qualitativ herausragend in Konzept und Ausfuhrung. Yu ist fur seine vom Gedanken der Nachhaltigkeit bestimmte Haltung bekannt, die ihn haufig in Konflikt mit den ortlichen Behorden bringt. Seine Entwurfshaltung wird gepragt von der Wertschatzung des Gewohnlichen und von Alltagsdingen und einer tiefen Akzeptanz der Natur, auch in ihren bedrohlichen Aspekten, wie Uberschwemmungen. Zu seinen bekanntesten Projekten gehoren Houtan Park fur die Shanghai Expo 2010, der Red Ribbon Park in Qinhuangdao und der Shipyard Park auf einer Industriebrache in Zhongshan. Dieses Buch geht den zentralen Themen in Yus Werk in zehn Essays bekannter Autoren nach und dokumentiert zehn ausgewahlte Projekte.
The role of gender on the effects of Indonesian manpower skills on their competition readiness/preparedness

The Asean economic community requires high economic competition among ASEAN countries. Indonesia is one of the ASEAN Countries which is assumed to have a low capacity to win the competition. Hence, Indonesian workers are sued to have a better skill level heading the tight competition. Thus, workers with better skills are needed to strengthen the comptetition. Both practition and scholars believe that the issues of gender are currently attractive for the manpower market. Accordingly, this study is aimed to explore the effects of gender on the influence of skill on the readiness of Indonesia worker toward business competition in the Asean Economic Community (AEC). This study employs 352 workers from various Industries. Multiple regressions are used to analyze the data. The result shows that the skill of male workers has stronger effect on their readiness toward AEC competition rather than their counterparts. Implication and future research are discussed.
SUPPORTING MEGA-COLLABORATION: A FRAMEWORK FOR THE DYNAMIC DEVELOPMENT OF TEAM CULTURE

SUPPORTING MEGA-COLLABORATION: A FRAMEWORK FOR THE DYNAMIC DEVELOPMENT OF TEAM CULTURE Christine Mae Newlon Submitted to the faculty of the School of Informatics in partial fulfillment of the requirements for the degree of Master of Science in Human-Computer Interaction, Indiana University May 2008
Estimating freight demand for North South Railway

The main goal of this paper was to propose a model to estimate the freight demand for Brazil’s North-South Railway. The evaluation of the amount of cargo that could be attracted by the railway was done through the use of a Multicommodity Minimum Cost Flow model. During 2005, the results showed a total of 1.2 million tons of inter-regional soybean flows that have potential to be moved through this rail line between Estreito (Maranhao) and Sao Luis (Maranhao). This model has shown to be a practical tool for evaluating the potential flows through a transportation infrastructure and for identifying the origins and products related to these flows.
Victor 6000 : design, utilisation and first improvements

Following the needs of a widening community of end users the modular deep Remotely Operated Vehicle Victor 6000 of the Institut Francais d’Exploitation de la Mer, Ifremer, is evolving using new technologies. A deep record dive at high latitude (79°north) was reached in the Molloy Deep at 5550 metres in 1999. The performance obtained till 2002 during 2600 hours of work/survey near the seafloor are contributing significantly to the observation and the monitoring of the deep benthic ecosystems in various environments of the midoceanic ridges and the continental margins.
Shock and vibration environments for large shipping containers on rail cars and trucks

The purpose of this study was to provide definitions of shock and vibration environment to which fissile material shipping containers may be exposed during normal shipment by truck and rail cars. The definitions of vibration, shock superimposed on vibration and rail coupling shock result from existing data. The dependence of shock en­ vironment, from rail coupling operations, on parameters like cargo weight and shock attenuation couplers was also studied using spring-mass models. These studies show that for rail cars equipped with standard draft gear, the cargo response decreases with increased cargo weight until the springs bottom out. For rail cars equipped with shock attenuation couplers, cargo weight has little effect on cargo response. The study also shows the importance of matching couplers and tiedown stiffnesses to decrease the cargo response. Vibration and shock data samples have been obtained during truck shipment of heavy cargo and the data will be presented in subsequent reports. Similar data need to be ob­ tained for rail shipment of heavy cargo and during rail coupling operations with heavy cargo. *This work was sponsored by the Division of Safeguards, Fuel Cycle and Environmental Research of the United States Nuclear Regulatory Commission; Contract No. A-1049-6.
Numerical Simulation in Tunneling

Introduction Tunnelling - the need for technological development and innovation Improved site investigation Advanced pre-processing methods Thermochemomechanical material model for shotcrete Material model for soil and applications Damage mechanics of jointed rock in tunnelling Parameter identification and its application in tunnelling Soft-computing-based parameter identification as the basis for prognoses of the structural behaviour of tunnels Quantification of stress states in shotcrete shells Compressed air tunnelling - determination of air requirement A coupled FE-model for tunnelling by means of compressed air A multilaminate model for finite element analysis of tunnel excavation Advanced post-processing methods Application of numerical simulation at the tunnel site Summary and outlook
Development and Evaluation of CheapBFT: An Efficient Byzantine Fault Tolerant Protocol

With the growth of computer services in Internet, the availability and integrity of these services, and the consequence which their failures might bear, becomes more evident. Inconsistent responses of services as a result of arbitrary behaviour of replicas, called Byzantine failures, will be handled by more additional replicas compared to usual crash stop failures. In this thesis, CheapBFT a new Byzantine Fault Tolerant state machine replication(BFT) is described. It is tuned to a minimal resource usage compared with other BFT protocols. Most BFT protocols tolerate f Byzantine failures with replication of services on 3f + 1 replicas whereas CheapBFT requires only f + 1 replicas at the agreement as well as the execution stage during normal operation. In case of suspected or detected faults, we rapidly activate up to f additional nodes to participate in consensus and execution. Besides the clear benefits in cost, maintenance, management, and complexity of having less replicas to tolerate a certain number of faults, our protocol is simpler than previous ones. The performance evaluation shows that it has better throughput than previous algorithms and better response time with the increasing number of requests.