Miracle-dz/UniFAR-FTUs huggingface dataset:
A Manipulator Control Method Based on Deep Deterministic Policy Gradient with Parameter Noise

Focusing on the motion control problem of two link manipulator, a manipulator control approach based on deep deterministic policy gradient with parameter noise is proposed. Firstly, the manipulator simulation environment is built. And then the three deep reinforcement learning models named the deep deterministic policy gradient (DDPG), asynchronous advantage actor-critical (A3C) and distributed proximal policy optimization (DPPO) are established for training according to the target setting, state variables and reward & punishment mechanism of the environment model. Finally the motion control of two link manipulator is realized. After comparing and analyzing the three models, the DDPG approach based on parameter noise is proposed for further research to improve its applicability, so as to cut down the debugging time of the manipulator model and reach the goal smoothly. The experimental results indicate that the DDPG approach based on parameter noise can control the motion of two link manipulator effectively. The convergence speed of the control model is significantly promoted and the stability after convergence is improved. In comparison with the traditional control approach, the DDPG control approach based on parameter noise has higher efficiency and stronger applicability.
Utilization of Terrestrial Laser Scanning Data in Building Information Modelling (BIM) for Fire Disaster Evacuation Simulation

The development of digital building modeling technology for documentation and spatial planning is growing rapidly. Along with the development of these technologies, the urgency concerning the level of accuracy in the measurement is also increasing. One of the technologies currently being developed to address the urgency is the creation of three-dimensional objects using the Terrestrial Laser Scanner (TLS). Three-dimensional (3D) imaging sensors, such as TLS, can be used to create a Building Information Model (BIM) of the condition of buildings and other facilities in the field. However, quality control needs to be carried out to ensure that the model accurately describes conditions in the field. Therefore, this study was conducted to determine the level of accuracy of the results of the BIM made by utilizing the TLS. In this study, researchers applied a deviation analysis method. This method produced an area with a significant difference between the point cloud data and the reconstructed model. The BIM went through a virtual disaster evacuation simulation process by utilizing the A* search algorithm. The evaluation results of BIM deviation to the average point cloud were dominated by green results. This indicated that the deviation of the distance between the point cloud and the BIM data ranged from 0 to 2 mm. The results of the test of accuracy in the field using a rolling meter showed that the RMSE value of the difference between the distance of the roll meter and the BIM was 0.0139 m with an average distance difference of 0.0102 m. The results of the creation of the evacuation route showed that the maximum distance of the evacuation route in the building was 21.251 m on the ground floor, 17.290 m on the 1st floor, 17.718 m on the 2nd floor, and 17.851 m on the 3rd floor. From the results of the simulation, the disaster evacuation took 89.8 seconds with an average evacuation process of 44 seconds. The length of the path has been in line with the applicable regulations, in which according to Indonesia’s Minister of Public Works and Housing Regulation No. 26/2008, the maximum length of the path in educational residential buildings is 62 m.
Research of CamShift Algorithm Used in Object Tracking of Selfvision Underwater Robot

It is difficult for self-vision underwater robot to track object, and the tracking process is frequently inaccurate, unstable or even loss goals. To solve the above questions, Continuously Adaptive Mean Shift Algorithm (CamShift) is used in object tracking of self-vision underwater robot in this paper. We build a software experimental platform by VC++6.0 and Opencv1.0, with the external camera to capture video, and then apply Camshift algorithm in the environment, in which background color is not similar to the object to realize the real time tracking. The experimental results show the effectiveness of the algorithm for self-vision underwater robot.
Study on Heat Conduction of Microwave Oven

For the heat distribution problem of the baking dish food in microwave oven, we established a partial differential equation model for the unsteady heat conduction problems, and solved this model by using the finite element method. Then, we drew the figures of temperature field distribution for the circular pan and the rectangular pan at a certain time respectively. Based on the conjecture that the part of their internal circular area for the graphics between the circle and rectangle are uniformly distributed, we verified the relationship between the pan evenly heated area and the shape of the pan, then we got the maximum heat distribution area for the circular pan and the rectangular pan, rectangular pan and regular hexagon pan.
Optimization of Extraction Process of Lycopene from Watermelon (Citrullus lanatus) by Response Surface Methodology

The extraction processing of lycopene from watermelon was investigated in this paper. Based on single factor experiments, response surface methodology (RSM) was adopted to study the key parameters such as number of extraction, extraction temperature, extraction time in order to increase extraction rate of lycopene. A second order quadratic equation was established and the applicability of model and interaction involved factors on predicting the lycopene extracting content was verified. The results indicated that the optimum extraction conditions were hexane (containing 2% dichloromethane) as extraction solvent, ratio of solvent to raw material of 3:1 (mL/g), number of extraction of 2, extraction time of 1.9 h and extraction temperature of 29.8°C. Under these conditions the extracting content of lycopene was 14.71±0.22 mg/kg, which is well in agreement with value predicted by the model.
Ultrafast uni-traveling-carrier photodiodes for measurement and sensing systems

The uni-traveling-carrier photodiode (UTC-PD) is a newly developed photodiode that utilizes only electrons as the active carriers. This unique feature enables a UTC-PD to achieve excellent high-speed and high-output characteristics simultaneously. Fabricated devices exhibit a record 3-dB bandwidth of 310 GHz, a very-short electrical output pulse of less than 1 ps, high-power millimeter-wave generation at 100 GHz with an output power of over 20 mW, and a sub-millimeter-wave emission at frequencies of up to 800 GHz. The superior capabilities of the UTC-PD for generating wideband millimeter/sub-millimeter waves and very-short electrical pulse signals can innovate various measurement and sensing systems, for instance, millimeter-wave imaging or network analysis. A waveguide-output UTC-PD module with a maximum output power of over 10 mW at 100 GHz is practically important for the photonic-local system in radio telescopes.
An improved unified network protocol framework for large-scale wireless sensor networks

Rapid technological advances in wireless communication have made it possible for networking sensor devices. Given the low computation and battery power capacities of these sensor nodes, the key design factors of network protocols are self-configuring, energy-efficient, adaptive, and scalable. We presented the multi-hop infrastructure network architecture (MINA) for a wireless sensor network consisting of a few hundred sensors that communicate data to a base station (BS). We designed a Unified Network Protocol Framework for MINA that encompasses network organization, medium access control (MAC) and routing protocols. In this paper, we improve it by adaptively varying transmission range to maintain network connectivity. It is a derivative-free optimization algorithm. The BS periodically evaluates the objective function, chooses the appropriate transmission range and broadcasts it to the sensor nodes that then update the transmission range. The advantages are: (i) Avoids the disconnectivity; (ii) Maximizes the number of nodes that can be connected to the BS, (iii) Minimizes the energyxdelay metric and (iv) Avoids the "hot-spot" nodes in the network. The performance in terms of delay, throughput, energy consumption and network lifetimes, is studied in detail using discrete-event simulation compared with other protocol. The results show that it is energy efficient in a large scale network.
Global Localization and Position Tracking of an Automated Guided Vehicle

Abstract A swarm of Automated Guided Vehicles (AGVs) can be used in warehouses, distribution centers and manufacturing plants in order to automate the internal material flow. This swarm can overcome the disadvantages of roll conveyors and belts. The main problems of AGVs are global localization, position tracking, path planning and communication (especially within the swarm). Another technique which provides potential for logistic applications are Wireless Sensor Networks (WSNs). They can be used in warehouses to realize a decentralized stock database, monitoring a cold chain as well as for localization of an AGV and communication within the swarm. The paper presents a technique for global localization and position tracking of an omnidirectional AGV equipped with Mecanum wheels, which was designed to transport Euro-bins in a distribution center or warehouse. Global localization is realized through a technique based on range measurements obtained from an IEEE 802.15. 4a WSN. The WSN is also used for communication within the swarm as well as for communication with the central warehouse computer. A developed sensor fusion of two safety laser range finders with the range measurements of a WSN solve the position tracking task. Laser range finders are used to detect pairs of landmarks to provide accurate positioning for docking maneuvers. The paper also presents a sensor model for IEEE 802.15. 4a range measurements and experimental results. The latter show that the global localization technique guarantees accurate positioning and that the sensor fusion can be used for docking applications.
Artificial Intelligence-based control for torque ripple minimization in switched reluctance motor drives - doi: 10.4025/actascitechnol.v36i1.18097

In this paper, various intelligent controllers such as Fuzzy Logic Controller (FLC) and Adaptive Neuro Fuzzy Inference System (ANFIS)-based current compensating techniques are employed for minimizing the torque ripples in switched reluctance motor. FLC and ANFIS controllers are tuned using MATLAB Toolbox. For the purpose of comparison, the performance of conventional Proportional-Integral (PI) controller is also considered. The statistical parameters like minimum, maximum, mean, standard deviation of total torque, torque ripple coefficient and the settling time of speed response for various controllers are reported. From the simulation results, it is found that both FLC and ANFIS controllers gives better performance than PI controller. Among the intelligent controllers, ANFIS gives outer performance than FLC due to its good learning and generalization capabilities thereby improves the dynamic performance of SRM drives.
Waveform design and doppler sensitivity analysis for nonlinear FM chirp pulses

The use of pulse compression to obtain simultaneous long-range detection and good range resolution is described. The types of modulation that can be used to obtain pulse compression are outlined with particular emphasis on their performance under Doppler shift. It is shown that nonlinear frequency-modulated (FM) signals are capable of providing low range-sidelobes while being compressed using a matched filter. A design method for nonlinear FM signals based on window functions is outlined. Simulation results for pulse compression of nonliner FM signals based on four different window functions with Doppler shift are presented. The results are used to define the effects of Doppler shift on the pulse compression. An analysis is presented, and interpreted pictorially, that explains the effects of Doppler shift on the pulse compression. The analysis is also extended to explain the better Doppler performance of hybrid FM pulse compression systems.
Simulation study on spectrum beam combining based on reflection volume Bragg grating

Single fiber laser can reach kilowatt level output. Higher power output is limited by nonlinear effect inside the fiber, heat deposition and pump power. Spectral beam combining of multiple laser beams with offset wavelengths into a single near-diffraction-limited beam is an effective solution to increasing energy brightness and scaling output power of high-power lasers. The loss factors of effect on the diffraction efficiency of the gratings are discussed. Design principles and technical approach for spectral beam combining (SBC) of two channels and three channels by reflecting volume Bragg grating are investigated. Two and three channels SBC are numerically analyzed when the input beam divergence is 0.06mrad. The results show the SBC efficiencies are 98.65% and 97.57% when the spectral width is 0.1nm, and the efficiencies are 92.16% and 88.98% when the spectral width is 0.3nm, respectively.
A SPICE compatible subcircuit model for lateral bipolar transistors in a CMOS process

This paper describes a SPICE compatible subcircuit model of a lateral pnp transistor, which was fabricated in a 0.6 /spl mu/m CMOS process. The extraction of a dc parameter set for the lateral device is more complicated than for a vertical device because of the presence of two parasitic vertical bipolar transistors which are formed by the emitter/collector, the base and the substrate regions. The SPICE Gummel-Poon model does not predict the substrate current accurately. This paper proposes a method which involves the use of a subcircuit incorporating three SPICE Gummel-Poon models [representing one lateral and two parasitic vertical bipolar junction transistors (BJT's)]. The development of this model, its implementation and the results obtained are outlined and discussed. This circuit model is SPICE compatible and can thus be used in commercial simulators. The model provides good agreement over a wide range of measured dc data including substrate current prediction.
Pull-in range of a phase-locked loop with a binary phase comparator

We develop a method for calculating the pull-in range of a phase-locked loop with a binary phase comparator and an arbitrary loop filter. Complete numerical results are presented for loop filters of the phase-lag and low-pass types. The problem of stability is also considered, and it is proved that with these loop filters no steady-state phase jitter can exist after frequency acquistion has been achieved.
A Study of the Identification Method of Driving Fatigue Based on Physiological Signals

Driver fatigue is one of the main causes for traffic accidents. It is very important to identify fatigued driving to prevent traffic incidents objectively and accurately. Detecting drivers' physiological signals is an important method of identifying fatigued driving. Moreover, special attention has been paid to physiological signals as methods for detecting fatigues driving, such as with ECG (electroencephalography) and EEG (electrocardiogram) tests. In this paper, ECG and EEG data were collected through experiments conducted through a driving simulator. The ECG trend was obtained based on statistical analysis. Moreover, the authors compared EEG signals under the awake and fatigued states by combining the video and the ECG trend. The EEG characteristics were then extracted, and the EEG threshold value is obtained. The effectiveness of these indices is evaluated in further experiments. The results could be used as the foundation for future studies on driver fatigue.
Topical Delivery of Niacinamide to Skin Using Hybrid Nanogels Enhances Photoprotection Effect

Niacinamide (NIA) has been widely used in halting the features of ageing by acting as an antioxidant and preventing dehydration. NIA’s physicochemical properties suggest difficulties in surpassing the barrier imposed by the stratum corneum layer to reach the target in the skin. To improve cutaneous delivery of NIA, a hybrid nanogel was designed using carrageenan and polyvinylpyrrolidone polymers combined with jojoba oil as a permeation enhancer. Three different types of transethosomes were prepared by the thin-film hydration method, made distinct by the presence of either an edge activator or a permeation enhancer, to allow for a controlled delivery of NIA. Formulations were characterized by measurements of size, polydispersity index, zeta potential, encapsulation efficiency, and loading capacity, and by evaluating their chemical interactions and morphology. Skin permeation assays were performed using Franz diffusion cells. The hybrid hydrogels exhibited robust, porous, and highly aligned macrostructures, and when present, jojoba oil changed their morphology. Skin permeation studies with transethosomes-loaded hydrogels showed that nanogels per se exhibit a more controlled and enhanced permeation, in particular when jojoba oil was present in the transethosomes. These promising nanogels protected the human keratinocytes from UV radiation, and thus can be added to sunscreens or after-sun lotions to improve skin protection.
Measurement of Natural Ventilation Rate in Seoul Metropolitan Subway Cabin

The increasing concerns regarding the management of indoor air quality have become an important issue for subway operators because most subway lines are underground and have poor ventilation. To maintain clean and fresh indoor air in cabins with low consumption of energy it is first necessary to quantify the components of the ventilation in the cabins divided into mechanical ventilation and natural ventilation. However, there is no established method of, nor reliable data on, how much indoor air is exchanged through natural ventilation such as doors opening and closing. In this study, carbon dioxide (CO2) levels were measured in 6 lines of the Seoul Metropolitan Subways and a theoretical approach was made to estimate the indoor CO2 levels through natural ventilation during the operation of cabins to calculate the natural ventilation rate. We considered CO2 dilution factor during natural ventilation which indicates the exchange rate of indoor air with outdoor air. As the result of the study, the change in CO2 level could be quantified and it was found that approx. 35% of the indoor air was exchanged with outdoor air through natural ventilation.
The Risk of Psychological Stress on Cancer Recurrence: A Systematic Review

Simple Summary Cancer imposes the largest clinical and economic burden, with an estimated 19.3 million cancer incidents and almost 10.0 million cancer deaths in 2020 worldwide. Despite advances in early diagnosis before cancer progression, there are still feared concerns about recurrence after primary treatments. Psychological stress has been known to contribute to the development and progression of cancer; however, its effect on cancer recurrence remains inconclusive. To determine the association between psychological stress and the risk of cancer recurrence, this review aims to systematically evaluate the relevant studies. This study provides comprehensive information about the importance of psychological stress on cancer recurrence and provides reference data to clinicians and scientists for further studies. Abstract Cancer recurrence is a significant clinical issue in cancer treatment. Psychological stress has been known to contribute to the incidence and progression of cancer; however, its effect on cancer recurrence remains inconclusive. We conducted a systematic review to examine the current evidence from the Medline (PubMed), Embase and Cochrane Library up to May 2021. Among 35 relevant articles, a total of 6 studies (10 data points) were finally selected, which enrolled 26,329 patients (26,219 breast cancer patients except hepatocellular carcinoma patients in 1 study), 4 cohort studies (8 data points) and 2 RCTs (2 data points). Among the 8 data points in cohort studies, four psychological stress-related factors (two ‘anxiety’, one ‘depression’, and one ‘hostility’) were shown to be moderately related with the risk for cancer recurrence, while ‘loss of partner’ resulted in opposite outcomes. The ‘emotional‘ and ‘mental’ health factors showed conflicting results, and an RCT-derived meta-analysis proved the positive efficiency of psychotherapies in reducing the cancer recurrence risk among breast cancer patients (HR = 0.52; 95% CI 0.33–0.84). Despite the limitations, this study produces comprehensive information about the effect of psychological stress on cancer recurrence and provides reference data to clinicians and scientists for further studies.
Recovery processes in coastal wind farms under sea-breeze conditions

Abstract. With the rapid growth in offshore wind energy, it is important to understand the dynamics of offshore wind farms. Most of the offshore wind farms are currently installed in coastal regions where they are often affected by sea-breezes. In this work, we quantitatively study the recovery processes for coastal wind farms under sea-breeze conditions. We use a modified Borne's method to identify sea breeze days off the west coast of India in the Arabian Sea. For the identified sea breeze days, we simulate a hypothetical wind farm covering 50×50 km2 area using the Weather Research and Forecasting (WRF) model driven by realistic initial and boundary conditions. We use three wind farm layouts with the turbines spaced 0.5, 1, and 2 km apart. The results show an interesting power generation pattern with a peak at the upwind edge and another peak at the downwind edge due to sea breeze. Wind farms affect the circulation patterns, but the effects of these modifications are very weak compared to the sea breezes. Vertical recovery is the dominant factor with more than half of the momentum extracted by wind turbines being replenished by vertical turbulent mixing. However, horizontal recovery can also play a strong role for sparsely packed wind farms. Horizontal recovery is stronger at the edges where the wind speeds are higher whereas vertical recovery is stronger in the interior of the wind farms. This is one of the first studies to examine replenishment processes in offshore wind farms under sea breeze conditions. It can play an important role in advancing our understanding wind farm-atmospheric boundary layer interactions.
First-Principles Study on the Effect of Strain on Single-Layer Molybdenum Disulfide

By adopting the first-principles plane wave pseudopotential method based on density functional theory, the electronic structure properties of single-layer MoS2 (molybdenum disulfide) crystals under biaxial strain are studied. The calculation results in this paper show that when a small strain is applied to a single-layer MoS2, its band structure changes from a direct band gap to an indirect band gap. As the strain increases, the energy band still maintains the characteristics of the indirect band gap, and the band gap shows a linear downward trend. Through further analysis of the density of states, sub-orbital density of states, thermodynamic parameters and Raman spectroscopy, it revealed the variation of single-layer MoS2 with strain. This provides a theoretical basis for realizing the strain regulation of MoS2.