Miracle-dz/UniFAR-FTUs huggingface dataset:
Cooperative relative navigation for multi‐UAV systems by exploiting GNSS and peer‐to‐peer ranging measurements

Multiple unmanned aerial vehicle (UAV) systems have attracted extensive research interest for their potential benefits of scalability and flexibility. To keep all the UAVs in the desired formation, the navigation system must continuously provide highly accurate and robust relative positioning results. In open ‐ sky areas, this mission can be achieved using Global Satellite Navigation System (GNSS). However, the performance will be significantly degraded in urban canyons, due to signal blockage or high multipath. In response, we propose a cooperative relative navigation method that exploits peer ‐ to ‐ peer (P2P) ranging measurements to assist GNSS, and introduce cooperative technology to relative navigation. The principle of this approach is integrating multiple observations from multiple sensors and vehicles in the formation, thereby (a) improves navigation accuracy and (b) enhances the robustness against operational scenario changes. Simulations and flight experiments are carried out to validate the proposed algorithm in urban environments, and the results reveal significant accuracy improvement comparing to GNSS only.
A Traitor-Resistant and Dynamic Anonymous Communication Service for Cloud-Based VANETs

Cloud-based VANETs are designed to enable communication between high-speed vehicles. In such a highly dynamic environment, how to provide secure and anonymous communication service is a challenge. In this article, we affirmatively address the challenge by proposing a traitor-resistant and dynamic anonymous communication framework (TD-ACF) for cloud-based VANETs, which supports several advantageous features. In TD-ACF, each vehicle is represented by a set of attributes instead of its real identity, and the driving data is transmitted in encrypted form. Therefore, the anonymous authentication and the confidentiality of driving data are achieved in this way. Meanwhile, TD-ACF supports two practical requirements in cloud-based VANETs: the revocation and the traceability of traitor. For the former, TD-ACF can force a vehicle to exit the communication network at any moment. We employ an efficient binary tree algorithm to reduce the size of key updates for revocation from the traditional linear to the logarithmic level. For the latter, we overcome the barrier of the one-to-many relationship between a vehicle and the shared set of attributes to support traitor tracing. In TD-ACF, unlike most existing schemes, the Semi-Trusted Cloud (STC) can directly capture and punish a traitor instead of querying all the records in the list of unrevoked vehicles. In addition, we solve the key escrow problem that plagues most existing attribute-based schemes. The theoretical analysis and experimental simulation show that the proposed scheme is feasible and effective.
Random chord in a circle and Bertrand's paradox: New generation method, extreme behaviour and length moments

In this paper a new generating procedure of a random chord is presented. This problem has its roots in the Bertrand’s paradox. A study of the limit behaviour of its maximum length and the rate of convergence is conducted. In addition, moments of record values of random chord length are obtained for this case, as well as other cases of solutions of Bertrand’s paradox.
Fabrication of CdSe nanowires using template synthesis technique

In this paper we reported the fabrication of CdSe nanowires using Template Synthesis technique. Ion track membranes having nanopores were used as templates. Simple electrochemical deposition technique was used for the synthesis of CdSe nanowires inside the pores of Ion track membranes. Scanning electron microscopy was used for morphological studies of CdSe nanowires.
Gelatin/Gelatin-modified nano hydroxyapatite composite scaffolds with hollow channel arrays prepared by extrusion molding for bone tissue engineering

Bone tissue engineering scaffold has been successfully applied in the field of bone repair, but the major limitation is the delivery of oxygen and nutrients throughout the bulk of engineered tissue, especially for large scaffolds. Researchers have found that scaffolds with hollow channels can effectively solve this problem. We utilized a novel extrusion approach to prepare scaffolds with hollow channel arrays, which has the advantages of economy, continuous production, and high efficiency. The hollow channel scaffolds were composed of gelatin and gelatin-modified nano hydroxyapatite (nHAP). X-ray diffraction (XRD), Fourier transform infrared spectroscopy (FT-IR), transmission electron microscopy (TEM) and atomic force microscope (AFM) results indicate that the prepared gelatin-modified nHAP are nanorod-like particles with the length of 30∼50 nm and width of 5∼15 nm. The nano particle is composed of crystalline HAP grains with the size less than 10 nm and amorphous phases. A part of OH− or PO43− are replaced by CO32− during preparation process, leading to the transformation of HAP into hydroxyl-carbonated apatite (HCA). The prepared hollow channel scaffolds exhibit much better mechanical properties compared with the sponge porous scaffolds. The axial compressive strength of the hollow channel scaffold with porosity of 51.3 ± 5.2% can reach 25 ± 1.4 MPa, which can meet the mechanical strength requirement as an implant completely. Moreover, the hollow channel scaffold exhibited good in vitro degradability and bioactivity. These results highlight the potential of using gelatin/gelatin-modified nHAP composite scaffolds with hollow channels for bone tissue engineering.
An Adaptive Link-level Recovery Mechanism for Electric Power IOT based on LoRaWAN

Electric power Internet of Things (IoT) is a network system that can meet multiple requirements of the power grid, such as infrastructure, environment recognition, interconnection, perception and control. Long Range Radio Wide Area Network (LoRaWAN) with the advantages of ultra-long transmission and ultra-low power consumption, becomes the most widely used protocol in the electric power IoT. However, its extremely simple star topology also leads to several problems. When most of terminals depend on one or several gateways for communication, the gateways with heavier communication tasks have poorer communication quality. The load of each gateway is unbalanced, which is hardly conducive to a long-term network operation. At the same time, in the electric power IoT environment, there are some features such as complex terminal deployment environment, wide coverage, and large interference. These characteristics can lead to more vulnerable links and even interruptions in communication services. Therefore, this paper proposes an adaptive link-level recovery mechanism based on link adjustment for LoRaWAN. When a communication link fails, multiple candidate links are selected based on Quality of Service (QoS) requirements, the distribution of LoRaWAN gateways and repeaters. The final adopted link is selected from multiple candidate links using the following method. Considering network load balancing, a Link Recovery Adaptive algorithm based on the Kuhn-Munkras algorithm (LRAKM) is designed from the perspective of fault tolerance. This method is to adaptively adjust some communication tasks to the suboptimal communication link. One or more gateways on the optimal communication link of these communication tasks are overloaded. This adaptive adjustment can make the network load more balanced. The simulation result shows that LRAKM has a higher link recovery rate. It also shows that the whole network is more balanced in both sparse and dense environments. Furthermore, when the network load is heavier, LRAKM also has a better effect on balancing the network load and improving the link recovery rate.
Expeditious and enhanced sequestration of heavy metal ions from aqueous environment by papaya peel carbon: a green and low cost adsorbent

In this study, papaya peel carbon (PPC) has been explored as a potential adsorbent for the removal of Pb(II), Cu(II) and Ni(II) from their aqueous phases. Optimum adsorption conditions such as contact time, pH, initial metal ion concentrations, adsorbent dosage and temperature were determined. Optimum pH for the removal of Pb(II) and Ni(II) was found to be 6, while for Cu(II) it was 5. Maximum monolayer adsorption capacity (qm) was found to be 40.98, 38.02 and 32.25 mg g–1 for Pb(II), Cu(II) and Ni(II) ions, respectively. To study the kinetic parameters and mechanism of adsorption process, pseudo-first-order, pseudo-second-order, intraparticle diffusion and Elovich kinetic models were elucidated. D-R adsorption isotherm model best described adsorption of Pb(II) and Ni(II) ions onto PPC, whereas Freundlich adsorption isotherm described adsorption of Cu(II). To further predict the nature of adsorption, thermodynamic parameters such as ΔG°, ΔH° and ΔS° were calculated and positive values of ΔH° indicated endothermic nature of the process. Thus overall results confirmed that PPC can be effectively used as an alternative and low-cost adsorbent for the removal of heavy metal ions Pb(II), Cu(II) and Ni(II).
Phosphinoferrocene Ureas: Synthesis, Structural Characterization, and Catalytic Use in Palladium-Catalyzed Cyanation of Aryl Bromides

Phosphinoferrocene ureas Ph2PfcCH2NHCONR2, where NR2 = NH2 (1a), NHMe (1b), NMe2 (1c), NHCy (1d), and NHPh (1e); the analogous thiourea Ph2PfcCH2NHCSNHPh (1f); and the acetamido derivative Ph2PfcCH2NHCOMe (1g) (Cy = cyclohexyl, fc = ferrocene-1,1′-diyl) were prepared via three different approaches starting from Ph2PfcCH2NH2·HCl (3·HCl) or Ph2PfcCHO (4). The reactions of the representative ligand 1e with [PdCl2(cod)] (cod = cycloocta-1,5-diene) afforded [PdCl(μ-Cl)(1e-κP)2]2 or [PdCl2(1e-κP)2]2 depending on the metal-to-ligand stoichiometry, whereas those with [PdCl(η3-C3H5)]2 and [PdCl(LNC)]2 produced the respective bridge cleavage products, [PdCl(η3-C3H5)(1e-κP)] and [PdCl(LNC)(1e-κP)] (LNC = [(2-dimethylamino-κN)methyl]phenyl-κC1). Attempts to involve the polar pendant in coordination to the Pd(II) center were unsuccessful, indicating that the phosphinoferrocene ureas 1 bind Pd(II) preferentially as modified phosphines rather than bifunctional donors. When combined with palladium(II) acetate, the ligand.
Effects of Bias and Temperature on the Dose-Rate Sensitivity of 65-nm CMOS Transistors

MOS transistors in 65-nm CMOS technology exposed to ultrahigh total ionizing dose (TID) levels show clear evidence of a true dose-rate (DR) dependence. In order to assess the impact of this effect and to understand its origin, an extensive measurement campaign has been carried out at different DRs, different temperatures, and different biases. Both nMOS and pMOS devices with different sizes and geometries were studied. The results obtained clearly show that the DR sensitivity of these devices is due to mechanisms that occur in the spacer insulators. Spacers have only recently been identified as an important element in the radiation response of MOS devices exposed to ultrahigh doses and the mechanisms causing their DR sensitivity appear to be largely compatible with the models developed to explain enhanced low dose-rate sensitivity (ELDRS) in linear bipolar transistors.
A Novel SVPWM Scheme for Field-Oriented Vector-Controlled PMSM Drive System Fed by Cascaded H-Bridge Inverter

In the motor drive system fed by multilevel inverter, the problems such as the complexity of reference voltage synthesis, high common mode voltage (CMV), and high switching loss are usually the obstacles to the practical application. In order to reduce the computational complexity and improve the performance of permanent magnet synchronous motor (PMSM), a novel space vector pulsewidth modulation scheme, which is practical and independent of level number is proposed for PMSM vector control. First, the space vector plane is redivided, and the coordinates of the nearest three vectors and their duty cycles can be obtained directly by determining the location of reference vector, which simplifies the calculation and does not need any iterative algorithm. Then, the optimal switching state and switching sequence are selected online so as to ensure the minimum switching loss under the premise of minimum CMV. This article provides an original method and new idea for motor drive system fed by multilevel inverter. Finally, the practicability and validity of the proposed method are verified by simulation and experiment.
The MEG Liquid Xenon calorimeter

The MEG experiment at PSI, starting data taking this year, searches for the muon decay into one electron and one photon with a sensitivity to branching ratios around 10-13, two orders of magnitude better then the present best experimental limit. To reach this goal a new kind of large acceptance, large mass (roughly 2.2 Tons) calorimeter based on liquid xenon scintillation light was developed. Several calibration techniques developed to monitor the calorimeter behavior during all the experiment data taking will be shown together with the experimental resolutions obtained.
Adaptive Coordinated Direct and Relay Transmission for NOMA Networks: A Joint Downlink-Uplink Scheme

Coordinated direct and relay transmission (CDRT) is a promising strategy to extend cell coverage. However, higher spectral efficiency (SE) cannot be guaranteed in CDRT due to the cooperative process. Thus, non-orthogonal multiple access (NOMA) based CDRT is investigated, where a relaying user assists a base station (BS) in communicating with a cell-edge user (CEU) while the BS directly communicates with a cell-center user (CCU). Specifically, a novel joint downlink-uplink adaptive scheme is proposed for NOMA-based CDRT to improve the SE further. The proposed scheme jointly designs uplink and downlink via NOMA and adaptive transmission to implement bidirectional communication. First, we study the performance of the proposed scheme under both perfect and imperfect successive interference cancellation (SIC), and closed-form expressions are derived for the outage probability, diversity order, outage throughput (OT), ergodic sum rate (ESR), and energy efficiency (EE). Then, an optimal power allocation algorithm using the segment optimization and a modified particle swarm optimization algorithm are proposed to maximize the ESR under perfect and imperfect SIC, respectively. Numerical results verify the superiority of the proposed scheme in terms of the ESR, OT, EE, and the outage performance of CEU. The effectiveness of the proposed power allocation algorithms is also validated.
c-Chirp: Towards Symmetric Cross-Technology Communication Over Asymmetric Channels

Cross-Technology Communication (CTC) is an emerging technique that enables direct interconnection among incompatible wireless technologies. However, CTC channels are inherently asymmetric because of either the one-way nature of emulation or the asymmetric communication range caused by the asymmetric transmission power. In this paper, we focus on establishing symmetric CTC over asymmetric CTC channels. The bottleneck is the short communication range from the low-power and narrow-band technology to the high-power and wide-band technology. To compensate the inevitable distortions, we take advantage of the channel asymmetry and construct chirps in WiFi Channel State Information (CSI) to extend the communication range from ZigBee to WiFi. We build the theoretical model of CSI chirp based CTC and design <italic>c-Chirp</italic>, a novel CTC from ZigBee to WiFi. Due to channel asymmetry and discreteness, the WiFi receiver can only observe partial and distorted CSI chirps. To cope with this issue, we design a matching based chirp decoding method as well as an adaptation algorithm to reliably decode the symbols. We further extend <italic>c-Chirp</italic> to one-to-multiple concurrent transmission scenario. The evaluation results show that <italic>c-Chirp</italic> can achieve a communication range of <inline-formula> <tex-math notation="LaTeX">$60m$ </tex-math></inline-formula>, which is <inline-formula> <tex-math notation="LaTeX">$6\times $ </tex-math></inline-formula> longer than ZigFi, an existing representative CTC from ZigBee to WiFi.
Relaxation patterns of technological residual voltage in the surface layer of high-strength steel when cyclically loaded

Experimentally investigated patterns of changes in technological residual stresses under the influence of variable pressure in the surface layer became 30XNS2A. A mathematical model of relaxation of residual compressive stresses created by surface plastic deformation techniques with symmetrical cyclical bending of samples has been proposed. An empirical expression is proposed for assessing the final value of residual stresses as a result of cyclic loading, depending on the stress amplitude of a symmetric cycle. An expression is given for estimating the coefficient of relaxation rate of residual compressive stresses from their initial value, amplitude of alternating stresses and material properties. The constants of these expressions are determined for various construction materials. The theoretical dependences describe well the obtained experimental data. To predict the level of residual stress realization under operational loading, a formula was obtained to calculate their change as a result of the action of a step loading block with different amplitudes and duration of their action at each of the stages.
Detection of the Some Dominant Aerobic Microorganisms in Burn Injury and Testing their Susceptibility for Different Antibiotics in Najaf

Burn injury and wound is a pig problem that assists the pathogens to grow and cause infection. 149 burninjury swabs were taken from different site of the patients’ body ages (11-53 years old). All samples weretested to isolate the sigificant microorganisms that found in burn injury. Antibiotics test was performed byusing disc diffusion way that stated by Kirby-Baucer. Results appeared that the most frequent pathogen inburn injury was Pseudomonas aeruginosa 33(22.14%) and followed by E.coli 31(20.8%), Staphylococcusaureus 28(18.79%), Proteus vulgaris 26(17.48%), Coagulase-negative Staphylococci 12(8.05%), Proteusmirabilis 10(6.71%), Klebsiella pneumonia 5(3.35%) and Candida spp. 4(2.68%) respectively. Antibiotictest showed that Staphylococcus aureus was a high resistance against Gentamycin and ciprofloxacin, butit was sensitive to Vancomycin and Imipenem. Coagulase negative Staphylococci showed a resistanceto Gentamicin, Ciprofloxacin and Ceftazidime, but it was sensitive to Amikacin, Oxacillin, Cefotaxim,Vancomycin, Imipenem and Cefepime. P. aeruginosa showed resistance against Cefotaxime, Aztreonam,Gentamicin and Ceftazidime. Whlist it showed a high sensitivity against Imipenem, Cefepime andTobramycin. E.coli showed a high resistance against Ceftriaxone, Ciprofloxacin and Cephalothin. whilstit showed a high sensitivity against Ticarcillin/clavulanic acid, Imipenem, Cefepime and Tobramycin.Proteus vulgaris showed a high resistance against Ceftriaxone, Ceftazidime, Amikacin, Cephalothin andGentamicin. Whilst it showed a high sensitivity against Cefotaxime, Aztreonam, Ticarcillin/clavulanicacid and Imipenem. Proteus mirabilis showed resistance against Amikacin, Ciprofloxacin, Ceftriaxone,Gentamicin and Cephalothin. Whilst it showed a high sensitivity against Ceftazidime, Cefotaxime,Aztreonam, Ticarcillin/clavulanic acid, Imipenem, Cefepime and Tobramycin. Klebsiella pneumoniashowed resistance against Ciprofloxacin, Ceftazidime, Cefotaxime and Aztreonam. whilst it showed a highsensitivity against Ceftriaxone, Amikacin, Gentamicin, Cephalothin, Ticarcillin/clavulanic acid, Imipenem,Cefepime and Tobramycin. The current study was aimed to determine the most frequent pathogens in burninjury and test their antibiotics susceptibility in hospitalize patients in Najaf city.
Analisis Hubungan Kuantitatif Struktur Dan Aktivitas Senyawa Turunan Triazolopiperazin Amida Menggunakan Metode Semiempirik AM1

QSAR studies had done on derivatives of triazolopiperazine amide as inhibitors DPP IV enzyme that causes diabetes mellitus type 2. The studies had began by modeling the structures of the derivatives of triazolopiperazine amide and calcutating the descriptors of QSAR by semiempirical AM1 method which available on Hyperchem O program. QSAR analysis had done by multilinear regression method analysis which is available on SPSS O program using electronic and molecular parameters. The best QSAR equation model for method of semiempirical AM1: -log IC 50 = 152.252 + (18,.295*qC1) + (2.343*qC5) + (2263.448*qC9) + (1662.252*qC10) – (350.806*qC15) + (639.687*qO25)+ (6.515*E H ) n = 18; r 2 = 0.712; adjusted r 2 = 0.510; F hit /F tab = 1.124; PRESS = 0.006 The main side of the compound can be determined through the equation. It can be used to study in preventing the disease of DM2 by inhibiting of enzyme DPP IV.
A novel control technique for a single-phase grid-tied inverter to extract peak power from PV-Based home energy systems

In this paper, a single-phase full-bridge grid-tied inverter is considered for home-based photovoltaic applications. The dc-dc converter is inevitable in boosting the voltage and tracking the maximum power from the photovoltaic source. As a result, the size and cost of the home-based photovoltaic grid-tied systems increases. A dc-dc converter is eliminated in this work, and the PV voltage is considered as the input voltage to a single-phase full-bridge inverter system. Also, to overcome the demerits of traditional peak power techniques, a fuzzy logic-based peak power controller is proposed. A fuzzy logic-based dc-link voltage controller is also proposed to overcome the conventional PI-based dc-link voltage controller's demerits. Primarily the theoretical concept is validated by using the MATLAB/SIMULINK tool for simulation analysis. The Spartan-6 FPGA control board is used to implement the controller program. A laboratory prototype is fabricated in the experimental laboratory to verify the theoretical and simulation analysis. Different case studies are comprehended in this work to present the robustness of the recommended control scheme.
Efficient and Secure Routing Protocol Based on Artificial Intelligence Algorithms With UAV-Assisted for Vehicular Ad Hoc Networks in Intelligent Transportation Systems

Vehicular Ad hoc Networks (VANETs) that are considered as a subset of Mobile Ad hoc Networks (MANETs) can be applied in the field of transportation especially in Intelligent Transportation Systems (ITS). The routing process in these networks is a challenging task due to rapid topology changes, high vehicle mobility and frequent disconnection of links. Therefore, developing an efficient routing protocol that satisfies restriction of delay and minimum overhead is faced with many difficulties and limitations. Also, the detection of malicious vehicles is a significant task in VANETs. To address these issues, using Unmanned Aerial Vehicles (UAVs) can be helpful to cope with these limitations. In this paper, operation of UAVs in ad hoc mode and their cooperation with vehicles in VANETs are studied to help in the process of routing and detection of malicious vehicles. A routing protocol named VRU is proposed that includes two distinct ways of routing of data: (1) delivering packets of data between vehicles with the help of UAVs using a protocol named VRU_vu, and (2) routing packet of data between UAVs using a protocol named VRU_u. The NS-2.35 simulator under Linux Ubuntu 12.04 is utilized in order to appraise the performance of VRU routing components in an urban scenario. Also, VanetMobiSim generator of mobility and MobiSim are used to produce the motions of vehicles and to produce the motions of UAVs, respectively. The performance analysis displays that VRU protocol can improve the packet delivery ratio by 16% and detection ratio by 7% compared to other reviewed routing protocol. Also, VRU protocol decreases end-to-end delay by an average of 13% and overhead by 40%.