Miracle-dz/UniFAR-FTUs huggingface dataset:
Machines That Walk: The Adaptive Suspension Vehicle

From the Publisher: What is 16 feet long, 10 feet high, weighs 6,000 pounds, has six legs, and can sprint at 8 mph and step over a 4 foot wall? The Adaptive Suspension Vehicle (ASV) described in this book. Machines That Walk provides the first in depth treatment of the "statically stable walking machine" theory employed in the design of the ASV, the most sophisticated, self contained, and practical walking machine being developed today. Under construction at Ohio State University, the automatically terrain adaptive ASV has one human operator, can carry a 500 pound payload and is expected to have better fuel economy and mobility than that of conventional wheeled and tracked vehicles in rough terrain. The development of the ASV is a milestone in robotics research, and Machines That Walk provides a wealth of research results in mobility, gait, static stability, leg design, and vertical geometry design. The authors' treatment of statically stable gait theory and actuator coordination is by far the most complete available. Shin Min Song is an Assistant Professor in the Department of Mechanical Engineering at the University of Illinois at Chicago. Kenneth J. Waldron is Nordholt Professor in the Department of Mechanical Engineering at Ohio State University.
Single-moment analysis of unreliable trunk networks: two methods for the network grade-of-service

Traditionally, research into circuit-switched (C-S) communications networks has been divided into two areas, reliability and performance. The combined performance and reliability measure chosen is the network grade-of-service (NGOS), i.e. the overall probability of blocking, averaged over all node pairs, taking into account both the offered traffic between node pairs and the link (trunk group) availabilities. Two methods are given for the single-moment analysis of C-S networks with reliable nodes but unreliable links. UNRELGOS is based on earlier work. MKV-GOS employs a Markov model for an unreliable link, developed by the author, in combination with the earlier work, so as to greatly reduce execution time, though not without some cost in accuracy.
A nonlinear position controller for maritime operations of Rotary-wing UAVs

This paper presents a disturbance attenuation controller for horizontal position stabilization for hover and automatic landings of a Rotary-wing Unmanned Aerial Vehicle (RUAV) operating in rough seas. Based on a helicopter model representing aerodynamics during the landing phase, a nonlinear state feedback H-infinity controller is designed to achieve rapid horizontal position tracking in a gusty environment. The resultant control variables are further treated in consideration of practical constraints (flapping dynamics, servo dynamics and time lag effect) for implementation purpose. The high-fidelity closed-loop simulation using parameters of the Vario helicopter verifies performance of the proposed position controller. It not only increases the disturbance attenuation capability of the RUAV, but also enables rapid position response when gusts occur. Comparative studies show that the H-infinity controller exhibits great performance improvement and can be applied to ship/RUAV landing systems.
Constrained crop enterprise choices by smallholder farmers in semi-arid Zimbabwe

Abstract Smallholder irrigation schemes are critical in sustaining livelihoods of communities in the drier areas of Zimbabwe. The performance of these schemes as food and incomes safety nets has been questionable over recent times. Using a multinomial logit model, the study examines factors affecting smallholder irrigation farmers’ selection of crop enterprises in their crop mix decisions. The paper uses cross-sectional data from 136 small holder irrigation farmers at Nharira irrigation scheme in Bikita district of Zimbabwe. A self-administered questionnaire, which was supported by key informant interviews, was used for collecting primary data on crops produced, sales made and specific household variables such as incomes and age of principal decision makers. Secondary data on contested variables such as sales and incomes were referenced. The data shows that the age of household head, association to membership groups, number of buyers available in the markets and the prices of respective crops significantly (p < 0.05) affects the choice of enterprises. The results also show that small scale irrigation farmers’ decision making is constrained by lack of effective information dissemination mechanisms and weak core competencies of market signals interpretation among farmers. Stakeholders suggested the need to strengthen access to rewarding markets through decentralising marketing points. This can be sustained by information centers in their localities so as to harness from beneficial market information, which will in turn have a significant impact on how crop choice decisions are made.
Relative significance of factors influencing DXAA formation during chloramination

The influence of natural organic matter (NOM) characteristics and reactivity, pH, chlorine‐to‐nitrogen (Cl2:N) ratio, disinfectant residual concentration, and bromide concentration on dihaloacetic acid (DXAA) formation during chloramination was studied in several diverse water sources. Analysis of variance (ANOVA) over a broad variety of experimental conditions usually pointed to pH as being the most significant factor in DXAA formation, followed by bromide concentration. A shift in speciation to the bromine‐substituted species occurred as the bromide concentration increased and the pH decreased. In general, the DXAA molar yield will not increase over the range of Br‐ or dissolved organic carbon (DOC) ratios typical of practice; however, a source water experiencing a large increase in bromide concentration may exhibit an increase in the DXAA molar yield. DXAA formation decreased as the Cl2:N ratio decreased, and ANOVA analysis also indicated that it was the next most significant contributor to DXAA formation after pH and bromide concentration. Temperature and chloramine residual also affected DXAA formation but were much less influential than the aforementioned factors. In addition, NOM in the hydrophilic fraction was more reactive in forming DXAA than NOM in the hydrophobic fraction. The effectiveness of treatment, which can have a significant effect on DXAA formation, is largely related to overall DOC removal, although preferential removal of more reactive NOM fractions also may contribute to reduction of DXAA formation.
The Gezira Irrigation Scheme In Sudan: Objectives, Design, And Performance

This report is part of a series of case studies on the performance of irrigation systems in different countries. These studies focus on the extent to which the design of the irrigation system fosters effective water management and provides equitable, reliable, timely water distribution to farms (by analyzing water efficiencies, the effectiveness of maintenance, and cost recovery). The report recommends the design of the physical infrastructure, and states the impact on the management of these systems. Because of the comparative nature of this study, this report on the Gezira scheme in Sudan makes only passing references to some specific but critical aspects of this project, such as the capacity of the system to adapt to changing socio-economic conditions.
The IDA Pro Book: The Unofficial Guide to the World's Most Popular Disassembler

No source code? No problem. With IDA Pro, you live in a source code-optional world. IDA can automatically analyze the millions of opcodes that make up an executable and present you with a disassembly. But at that point, your work is just beginning. With The IDA Pro Book, you'll learn how to turn that mountain of mnemonics into something you can actually use. Hailed by the creator of IDA Pro as the "long-awaited" and "information-packed" guide to IDA, The IDA Pro Book covers everything from the very first steps to advanced automation techniques. While other disassemblers slow your analysis with inflexibility, IDA invites you to customize its output for improved readability and usefulness. You'll save time and effort as you learn to: Identify known library routines, so you can focus your analysis on other areas of the code Extend IDA to support new processors and filetypes, making disassembly possible for new or obscure architectures Explore popular plug-ins that make writing IDA scripts easier, allow collaborative reverse engineering, and much more Utilize IDA's built-in debugger to tackle obfuscated code that would defeat a stand-alone disassembler You'll still need serious assembly skills to tackle the toughest executables, but IDA makes things a lot easier. Whether you're analyzing the software on a black box or conducting hard-core vulnerability research, a mastery of IDA Pro is crucial to your success. Take your skills to the next level with The IDA Pro Book.
Active Vibration Isolation for A Parallel Wheel-legged Robot Based on Dynamic Model

Serving Stewart plat as wheel-legged construction, the most outstanding superiority of proposed wheel-legged hybrid robot (WLHR) is active vibration isolation during rolling on rugged terrain. This paper presents a force-driven control approach based on model predictive control (MPC) to design optimal control input for Stewart parallel wheel-leg that locomotes using swing foot trajectory. Adding adaptive impedance control in outermost loop, controlling framework prevents robot body horizontal and from vibration over rolling motion. Through dynamic model of Stewart mechanism, controller first creates predictive model by combining Newton-Euler equation, Newton-Raphson iteration of forward kinematic solving for current configuration, inverse kinematic calculation of Stewart obtaining desired joint position, and Gain/Integration module determining reference torque. With minimizing control deviation and input as objective function, a novel control optimization formulation generates optimum input for each control duration. These actuating force naturally enables each strut stretching and retracting used to realize six degree-of-freedom (6DOF) motion for Stewart wheel-leg. We exploit the variable-adapting method to reasonably adjust environmental impedance parameters by current position, velocity, force feedback of wheel-leg. This allow us to adequately acknowledge the desired support force tracking, isolating robot from isolation that is generated from unknown terrain. We demonstrate the validation of our control methodology on physical prototype by tracking a Bezier curve and active vibration isolation while the robot is rolling on decelerate strip. Respectively given PI controller and a sort of traditional impedance controller as comparison, a better performance of proposed algorithm was operated and evaluated through displacement and force sensors internally-installed in each cylinder, as well as IMU mounted on robot body.
Report on Development of Concepts for the Advanced Casting System in Support of the Deployment of a Remotely Operable Research Scale Fuel Fabrication Facility for Metal Fuel

Demonstration of recycle processes with low transuranic losses is key to the successful implementation of the Global Nuclear Energy Partnership strategy to manage spent fuel. It is probable that these recycle processes will include remote fuel fabrication. This report outlines the strategy to develop and implement a remote metal fuel casting process with minimal transuranic losses. The approach includes a bench-scale casting system to develop materials, methods, and perform tests with transuranics, and an engineering-scale casting system to demonstrate scalability and remote operability. These systems will be built as flexible test beds allowing exploration of multiple fuel casting approaches. The final component of the remote fuel fabrication demonstration culminates in the installation of an advanced casting system in a hot cell to provide integrated remote operation experience with low transuranic loss. Design efforts and technology planning have begun for the bench-scale casting system, and this will become operational in fiscal year 2008, assuming appropriate funding. Installation of the engineering-scale system will follow in late fiscal year 2008, and utilize materials and process knowledge gained in the bench-scale system. Assuming appropriate funding, the advanced casting system will be installed in a remote hot cell at the end of fiscal year 2009.
Handling renewable energy variability and uncertainty in power systems operation

The concerns about global warming (greenhouse‐gas emissions), scarcity of fossil fuels reserves, and primary energy independence of regions or countries have led to a dramatic increase of renewable energy sources (RES) penetration in electric power systems, mainly wind and solar power. This created new challenges associated with the variability and uncertainty of these sources. Handling these two characteristics is a key issue that includes technological, regulatory, and computational aspects. Advanced tools for handling RES maximize the resultant benefits and keep the reliability indices at the required level. Recent advances in forecasting and management algorithms provided means to manage RES. Forecasts of renewable generation for the next hours/days play a crucial role in the management tools and protocols of the system operator. These forecasts are used as input for setting reserve requirements and performing the unit commitment (UC) and economic dispatch (ED) processes. Probabilistic forecasts are being included in the management tools, enabling a move from deterministic to stochastic methods, which conduct to robust solutions. On the technological side, advances to increase mid‐merit and base‐load generation flexibility should be a priority. The use of storage devices to mitigate uncertainty and variability is particularly valuable for isolated power system, whereas in interconnected systems, economic criteria might be a barrier to invest in new storage facilities. The possibility of sending active and reactive control set points to RES power plants offers more flexibility. Furthermore, the emergence of the smart grid concept and the increasing share of controllable loads contribute with flexibility to increase the RES penetration levels.
Delta‐inverter fed fractional‐slot six‐phase brushless DC motors: Analysis, control, and fault‐tolerance capability

Purpose – This paper deals with the analysis, the modeling, the control and the fault‐tolerance capability of a three‐switch inverter (TSI, also known delta‐inverter) fed fractional‐slot six‐phase brushless DC motor (BDCM) drive.Design/methodology/approach – Following the presentation of the advantages of multi‐phase fractional‐slot brushless machines and the possibility of their association to TSI, the analysis of the operating sequences as well as the modeling of a TSI fed six‐phase BDCM drive are developed. Then, a dedicated control strategy of such a drive is synthesized. Finally, a case study is simulated considering both transient behaviour during the start‐up of the BDCM as well as a steady‐state one under healthy and faulty operations.Findings – It has been found that the 60‐electrical degree shift between the six phases of the BDCM makes it simple to achieve its operating sequences with its armature fed by a TSI, considering a suitable anti‐parallel connection of the six phases.Practical implicat.
INTERACTION BETWEEN SMALL MOLECULES AND HUMAN ESTROGEN RECEPTOR (ERΑ): MOLECULAR DOCKING STUDIES

breast cancer is the most popular type of cancer in women all over the world. The estrogen molecule is the major risk factor related to mammary gland tumors. The present study aims to evaluate the binding affinity and interactions of certain small molecules with the human estrogen receptor (ERα) as the tumor inhibitor. AutoDockVina was used to dock the small molecules against ERα. Results showed that most polar groups, carboxylic acid, fluorine, and hydrogen polar presented higher affinities compared with the other groups. The docking analysis of the small molecules with ERα showed that H-bonds were the potential small targets. The interaction was hydrophobic in the active site of ERα. Palbociclib exhibited higher binding affinity ( −13.6 KJ/mol) compared with the other small molecules. The present study proposes that palbociclib to be used as a small molecule in breast cancer prevention.
Relay-based Cooperation in Mobile Data Offloading

Mobile data offloading has been emerged as a promising solution to manage high data traffic imposed by mobile users. This technique exploits the frequency spectrum of some overlapping networks such as WiFi in cellular networks. Deployment of minimum WiFi access points (APs) is the main challenge in mobile data offloading which leads to the low cost of CAPEX and OPEX. In this letter, we investigate the impact of a relay-based cooperative MAC protocol on the spectrum efficiency of mobile data offloading and consequently on the WiFi APs deployment. Two algorithms are presented to compute the throughput gain and the minimum number of WiFi APs in two modes of cooperative and non-cooperative MAC protocols. The analytical results indicate that the cooperative MAC protocol can provide a reduction of up to 44% in the number of WiFi APs in comparison to non-cooperative mode.
Development of Wireless Sensor Network for Traffic Monitoring Systems

Traffic congestion has been a major problem on roads around the world. In addition, there is increase in volume of traffic vehicle density at a steady rate. Thus traffic on major roads has to be controlled to keep the traffic flowing at an acceptable rate. Several schemes for replacing the predominantly used Round Robin (RR) scheme for reducing congestion at traffic junctions have been proposed. Dynamic traffic control schemes adapt to the changing traffic by monitoring the state (such as the number queued up on each lane.). These need appropriate sensing and monitoring systems. In this paper a traffic monitoring and control system based on AMR (Anistropic Magneto Resistive) vehicle sensors, wireless sensor network and a proiritised Weighted Round Robin (WRR) scheduling technique, is developed.AMR sensors installed in road pavement detect the number of vehicles waiting in a traffic lane. The AMR sensors are connected to the master controller to form a Zigbee based sensor network. The master node consists of an ARM processor integrated with a Zigbee masternode. The traffic control algorithm is implemented at master node which is responsible for taking traffic signaling decision. It receives sensor data from all the lanes. A two level priority algorithm with weighted round robin scheduling, where first and second maximum weighted lane are to pass the signal is developed, To avoid starving the least loaded lanes, a cycle of normal round robin scheduling is performed after four rounds of proiritised weighted round robin schedule. The proposed algorithm is simulated and compared with the standard round robin algorithm. The developed algorithm decreases the average waiting time for a commuter while maintaining the average throughput up to average loads. The development traffic monitoring system is successfully demonstrated for a four lane junction. Full Text: PDF Normal 0 false false false EN-US X-NONE X-NONE /* Style Definitions */ table.MsoNormalTable {mso-style-name:"Table Normal"; mso-tstyle-rowband-size:0; mso-tstyle-colband-size:0; mso-style-noshow:yes; mso-style-priority:99; mso-style-qformat:yes; mso-style-parent:""; mso-padding-alt:0in 5.4pt 0in 5.4pt; mso-para-margin:0in; mso-para-margin-bottom:. 0001pt; mso-pagination:widow-orphan; font-size:11.0pt; font-family:"Calibri","sans-serif"; mso-ascii-font-family:Calibri; mso-ascii-theme-font:minor-latin; mso-fareast-font-family:"Times New Roman"; mso-fareast-theme-font:minor-fareast; mso-hansi-font-family:Calibri; mso-hansi-theme-font:minor-latin; mso-bidi-font-family:"Times New Roman"; mso-bidi-theme-font:minor-bidi;}
Factors Affecting Internal Marketing in Public Universities in Kenya (A Case of Dedan Kimathi University of Technology)

Purpose: Internal marketing is a considerably new concept in the marketing field as it was brought into perspective thirty years ago. Due to its age, it has taken a considerably long period to be fully implemented in many institutions, both public and private worldwide. This research was based on the factors affecting internal marketing in public universities in Kenya (a case study of Dedan Kimathi University of Technology). The research was limited to the university since it provided an adequate area for getting the necessary information on internal marketing strategies. As per the definition, it is the act of selling the organization to the external customer through the employees, who are the internal customers. The study was guided by the following specific objectives: To investigate the extent to which management incompetence prevails in Dedan Kimathi University of Technology; To assess the extent to which the knowledge of Internal Marketing has been adopted in Dedan Kimathi University of Technology; To explore the extent to which employee engagement in decision-making is embraced in Dedan Kimathi University of Technology; To examine the extent to which inadequate appreciation and reward of employees affect IM; and To investigate the extent to which information protection affects IM in Dedan Kimathi University of Technology Methodology: The literature review was based on the former researches concerning the topic, which is mostly based on international journals. Descriptive design was used to undertake the study as it is concerned with answering questions such as who, how, what, which, when, how much and to what extent. Findings: According to the findings, it is evident that managerial incompetence, misunderstanding of the internal marketing concept, failure to involve employees in policy formulation and information affect implementation of internal marketing in the public universities. Key w ords: Service Triangle; External marketing; Interactive marketing; Internal marketing
Riparian Land Cover, Water Temperature Variability, and Thermal Stress for Aquatic Species in Urban Streams

Thermal regime warming and increased variability can result in human developed watersheds due to runoff over impervious surfaces and influence of stormwater pipes. This study quantified relationships between tree canopy, impervious surface, and water temperature in stream sites with 4 to 62% impervious land cover in their “loggersheds” to predict water temperature metrics relevant to aquatic species thermal stress thresholds. This study identified significant (≥0.7, p < 0.05) negative correlations between water temperature and percent tree canopy in the 5 m riparian area and positive correlations between water temperature and total length of stormwater pipe in the loggershed. Mixed-effects models predicted that tree canopy cover in the 5 m riparian area would reduce water temperatures 0.01 to 6 °C and total length of stormwater pipes in the loggershed would increase water temperatures 0.01 to 2.6 °C. To our knowledge, this is the first time that the relationship between stormwater pipes and water temperature metrics has been explored to better understand thermal dynamics in urban watersheds. The results highlight important aspects of thermal habitat quality and water temperature variability for aquatic species living in urban streams based on thermal thresholds relevant to species metabolism, growth, and life history.