Miracle-dz/UniFAR-FTUs huggingface dataset:
Teaching Model Predictive Control Algorithm Using Starter Kit Robot

Abstract Advanced control concepts present a teaching challenge, where even at master level students benefit from these concepts being implemented and demonstrated on real hardware, rather than simply modelling the plant, applying control strategy and tuning. This paper describes one of a series of three experiments demonstrating the implementation of different control strategies using adaptive cruise control (ACC) on robot models and real robots. The experiment described here utilises the model predictive control (MPC) strategy implemented in ACC. The algorithm is realised using the graphical programming language (LabVIEW) as the design environment and National Instruments Robotics Starter Kit robot as the target hardware, with the code being deployed on a field programmable gate array (FPGA), included in the robot’s architecture. Two robotic vehicles, ‘the leader’ and ‘the follower’ are programmed to execute ACC: the velocity of the leader robot and the distance between the robots are augmented into the robot’s state-space equation, to design the controller (MPC), which was then tuned for both velocity and distance tracking modes. The experiment offers a novel idea on how to deliver this advanced control strategy in an applied and visual manner with laboratory experimentation supporting the theoretical aspects of learning. It brings to life some often stated theoretical qualities of an MPC controller, including quick rise time, minor fluctuation and a small distance tracking error, in line with current scientific papers. Thus, it demonstrates to students a clear correlation between theoretical expectations and real-life system performance whilst challenging their ability to work with real hardware.
A Pusher and a Clip Applied to Hind Paws Under Isoflurane Sedation to Evaluate Neuropathic Pain in a CCI Model

Rodent behavior assessments have been developed to evaluate pain. However, their fidgety activity and reactivity to human contact make it hard to activate animals in a consistent manner and get uniform and trustworthy responses. The present study was performed on prairie voles (aged 8 weeks). Sham (7 male prairie voles) and chronic constriction injury (CCI) (8 male prairie voles) rodents were investigated before surgery and four and seven days later. Each animal was assessed for nociceptive behavior. Pressure and mechanical threshold tests were conducted by the application of three different pushers to the center of hind paws and arterial clips to the toes while sedated with isoflurane. The CCI affected right lower extremity prominently increased nociceptive behavior scores four and seven days after the experiment, and the CCI affected right hind paw prominently decreased pressure and mechanical threshold tests four and seven days after the experiment . The pressure and mechanical thresholds were relevant to the scorings of nociceptive behavior in CCI model animals.
An Adaptive Approach for Simulation of Inrush Current in Three-phase Transformers Considering Hysteresis Effects

Abstract This article proposes a novel adaptive approach for accurate simulation of inrush currents in three-phase power transformers. The proposed technique is based on using artificial neural networks to update inverse Jiles–Atherton hysteresis model parameters during inrush current transients. The required parameters for training artificial neural networks are obtained using particle swarm optimization based on measured inrush current waveforms. The results show that the proposed technique can be used for accurate simulation of this phenomenon in three-phase power transformers. Inrush current measurements on a three-phase three-leg transformer are used for artificial neural network training and verification of the results.
Endoscopic Spine Surgery of the Cervicothoracic Spine: A Review of Current Applications

Background Endoscopic spine surgery in the cervicothoracic spine is generating continued interest in a rapidly evolving field. The authors present 4 techniques for fully endoscopic cervical spine surgery: (1) posterior cervical unilateral laminectomy and bilateral decompression, (2) posterior cervical foraminotomy, (3) anterior cervical discectomy, and (4) anterior transcorporal discectomy. Two techniques for fully endoscopic thoracic spine surgery are also presented: (1) posterior thoracic unilateral laminectomy and bilateral decompression and (2) transforaminal thoracic endoscopic discectomy and foraminotomy. Methods We describe 6 different surgical approaches and review the relevant literature about each technique. Results The clinical application of endoscopic spine surgery techniques has evolved over the past 40 years. Recent data suggest comparable outcomes to other procedures and perhaps fewer complications and quicker recovery when these techniques are used in the cervical and thoracic spine. Significant variability exists in these approaches depending on the goal of canal decompression, root decompression, and the site of the pathology. Conclusions Each endoscopic approach in the cervicothoracic spine has its technical nuances, outcomes, advantages, and disadvantages, making fully endoscopic cervicothoracic spine surgery an exciting and growing field.
Effect of Maximum Acceptable vs. Maximum Capacity Instructions for Three Lifting Tasks

Psychophysical techniques for establishing lifting guidelines are used by industry and the military. The instructions used during industrial research refer to maximum acceptable lifts (MAL), while the military uses maximum capacity lifts (MCL). The purpose of this study was to determine male and female soldiers' load selections using two sets of instructions (MAL and MCL) and two lift heights (floor-knuckle and knuckle-shoulder) for three lifting tasks (one-repetition maximum, 1-hr and 8-hr repetitive lifting). Thirteen male and 13 female soldiers participated in this study. A repeated measures analysis of variance identified main effects. Newman-Keuls Comparison of Means were used to examine significant interactions. Results revealed no difference due to instructions. Men selected a greater load than women, and greater loads were selected for floor-knuckle versus knuckle-shoulder (p < 0.05). Although slight differences were seen between loads selected by industrial workers vs. soldiers, the research results appear comparable for repetitive lifting but not for single lifts.
Full shot and receiver deghosting for Broadband and Conventional streamer 4D studies: How close can we get?

Summary In this paper, we focus on new methods to address the spectral phase and amplitude differences between conventional and broadband streamer surveys in a 4D study. Instead of downgrading the broadband monitor data, we perform “full” deghosting, source-side for the broadband data, and both source- and receiver-side for the legacy data. This broadens the spectra of both vintages to an equal bandwidth and removes the differences due to source and receiver depth variations, to immediately produce very good 4D repeatability indicators. We show the deghosted vintages can be used simultaneously in the SRME modeling step to improve signal to noise and to ameliorate offset sampling issues. We see better SRME results by using this 4D modeling technique which can be very important for 4D’s where multiples are issues.
Teachers’ Opinions on the Competency of Primary School Administrators in Kosovo

In this study, it is aimed to determine the teachers’ opinions on the school administrators’ competency in Kosovo, who work at primary schools. The data of the study were collected in the 2020-2021 academic year by using the School Administrators Competencies Inventory (SACI). In the analysis of the data, findings were obtained by using statistical analyses such as Correlation, T-test and MANOVA. Based on the findings, it was found that the school administrators' competencies inventory is adequate in all dimensions. No significant difference was found based on the variables of the teachers' opinions, gender and educational level. A significant difference was found in the dimensions of preparing a convenient school building and environment and professional service as a result of the ethnic analysis. A significant difference was found in the dimension of the curriculum development under the views on the school administrators’ competency based on age. Based on the results, it is recommended that school administrators can be encouraged to engage in personal and administrative activities and provide more opportunities, with a central systemic support, in order to have more positive effects on their competencies.
FAULT TOLERANT AUTONOMOUS MOBILE ROBOTIC SYSTEMS

Recent emphasis has been placed on mobile robotics performing in unstructured environments. This realm of operations requires many different algorithms to interpret the various situations. This not only requires a system that is able to support, and facilitate, the fusion of the results, but it also needs to be tolerant of system errors. In modern operating systems, separate processes are able to fail without affecting other processes. Using this ability, along with fault tolerant inter-process communications, and supervisory process managers, allows the total system to continue to operate under adverse conditions. While this paper focuses primarily on the challenges faced by mobile robotics, the approach can be extended to a wide range of systems which must autonomously identify and adapt to failures/situations.
Effect of Different Cooking Techniques on Microbial, Sensory and Colour Characteristics of Fish Pâté: Comparison of Ohmic and Traditional Cooking Techniques

The objective of this research was to investigate the quality characteristics of fish pâté produced using different cooking techniques. For this purpose, the fish pâté was cooked by ohmic and traditional (water bath) cooking techniques to same target temperature (78 °C). The time required for pasteurization of ohmic cooked fish pâté (OC) was calculated as 473.82 minutes, which is shorter than the pasteurization value of traditionally cooked fish pâté (TC) calculated as 2696.23 min. However, total bacteria count (TBC) and total yeast and mold count (TYM) of OC and TC were not (p>0.05) statistically different. Although the L* and a* colour values of OC and TC were not significantly different (p>0.05), these colour values were significantly different (p<0.05) from the values of uncooked fish pâté (UC). After cooking process, the sensory score of OC was higher than the sensory score of TC according to appearance, flavour and odour score. On the other hand, the deterioration of OC was occurred faster than the deterioration of TC during cold storage (4°C) of fish pâtés. OC was evaluated “unacceptable” at the 20 th day of storage when TC was evaluated as “acceptable” on the same day of storage. In the view of such information, it has been determined that further optimization studies are needed in order to use the ohmic cooking technique, which has a unique heating mechanism, in the cooking of fish pâté.
Impact of Music Intervention (Listening to Indian Classical Music) on Mental Wellbeing during COVID-19 Pandemic

Background: Reports show that mental wellbeing may be negatively affected by the COVID-19 pandemic. The ragas of Indian classical music are believed to have therapeutic effects. This study was done to investigate the impact of an Indian raga on mental wellbeing during the COVID-19 pandemic. Materials and Methods: It was a one-group before-after design study. A total of 45 adult subjects of Kolkata, recruited online, using convenience sampling during the lockdown, underwent a pre-test via Google forms using Warwick-Edinburg Mental Wellbeing Scale (WEMWBS) to evaluate mental wellbeing before the administration of music intervention. After two weeks of music intervention, that consisted of passively listening to raga Hamsadhwani, a post-test using the same scale and the same medium was done. Results: The results showed that the post-test mean of the total score 51.1 (SD = 3.9) of WEMWBS was significantly (p< 0.001) higher than the pre-test mean of the total score 30.9 (SD = 4.6). The same trend was reflected by the mean difference pertaining to all of the components of WEMWBS. Conclusion: It was concluded that raga Hamsadhwani may be effective in improving mental wellbeing in a pandemic situation. There is a need to do more work by improvising the research design employed in the present study. This will help to interpret more accurately and more meaningfully the effects of Indian raga music on mental wellbeing.
Fast synthesis of permanent magnet assisted synchronous reluctance motors

This paper describes a procedure for a practical synthesis of both a synchronous reluctance motor and a permanent magnet assisted synchronous reluctance motor. The procedure is completely analytical, yielding a rapid drawing of the motor geometry, taking into account both magnetic and mechanical considerations. From the application requirements, the external volume of the motor is computed. The further practical needs, such as maximum outer space, maximum available length, existing stator lamination, and so on are considered. Then, the design of the rotor geometry is carried out. The PM size is determined considering the demagnetisation limit according to the maximum current loading.
Throwing motion with instantaneous force using a variable viscoelastic joint manipulator

This article focuses on developing a pneumatic artificial muscle as a variable elastic device and a magnetorheological fluid brake as a variable viscosity device and a variable friction device. We executed a throwing motion using a 2-degree-of-freedom manipulator as a case study of the control of dynamic motion. To investigate the throwing motion, we proposed the spring model of the manipulator, which includes a variable viscoelastic joint. Next, the manipulator and the spring model were extended to 2 degrees of freedom. In addition, the spring model was verified by comparing the simulation and experimental results. The simulation results reproduced the experimental results. Furthermore, we maximized the velocity of the end effector during the throwing motion by searching for adequate drive timing of the second joint in the simulation. In the simulation, hand speed was improved by releasing the second joint on the basis of the angular acceleration of the first joint. Finally, the simulation results were reproduced experimentally under the same conditions.
Gas Adsorption and Storage at Metal-Organic Frameworks

Dry gas is considered one of the most environmentally friendly sources of energy. As a result, developing an efficient strategy for storing this gas has become essential. In this work, MOF-199 was synthesized and characterized in order to investigate the MOF-199 in dry gas adsorption using a built-in volumetric system (methane, ethane, and propane from Basrah gas company). The MOF-199 (metal organic framework) was synthesized using the solvothermal method at 373K for 24h, and then it was characterized. The dry gas adsorption on MOF-199 was studied under various conditions (adsorbent dosage, contact time, temperature, and pressure). The isothermal adsorption of the dry gas had been studied on MOF-199 using two types of models: Freundlich and Langmuir. The results of the isothermal adsorption shown corresponded to the Freundlich model with a correlation coefficient (R²) of 0.9426. Also, the rate of adsorption kinetic of the first and second-order was studied, and the results showed that the reaction rate was second-order.
Conductive Atomic Force Microscospe as a Tool for the Characterization of Time-Dependent Variability of MOS Devices: Two Case Studies

Conductive Atomic Force Microscopy (CAFM) has been demonstrated to be a very effective technique in providing detailed information on the morphological and electrical properties and failure mechanisms [1,2] of the gate dielectric of MOS devices from its characterization at the nanoscale. However, because of experimental difficulties, few efforts have been done to establish a correlation between the observed material properties and the electrical performance and reliability of electron devices. In this work, two case studies will be described to demonstrate that a well designed experiment, which combines standard electrical tests and CAFM measurements on the suitable test structures, can help in setting the nanoscale origin (technological and/or physical) of the observed device behavior.
THE INFLUENCE FACTORS AND DEVELOPING REGULARITY OF AIR PRESSURE PULSE AS TRAINS PASSING THROUGH EACH OTHER

The air pressure pulse produced by two trains as they passing through each other may induce adverse impact on trains and railways. The main influencing factors of pressure wave include train speed in passing events, track distance and shape of locomotive. Using a computational fluid dynamics method, hundreds of operating cases were simulated including seven track distances, seven train passing speed combinations, and three types of train. A developing regularity of the air pressure pulse amplitude relation to passing speed and track distance was obtained. The proportion between amplitude of bow and tail wave, and the distribution of amplitude at the same cross section along height of car body, was analyzed. And comparison between results of different shapes of locomotive was made. The conclusion can be used as a reference for design of trains and railways.
Predicted impact of climate change on the distribution of the Critically Endangered golden mantella (Mantella aurantiaca) in Madagascar

The impact of climate change on Malagasy amphibians remains poorly understood. Equally, deforestation, fragmentation, and lack of connectivity between forest patches may leave vulnerable species isolated in habitat that no longer suits their environmental or biological requirements. We assess the predicted impact of climate change by 2085 on the potential distribution of a Critically Endangered frog species, the golden mantella (Mantella aurantiaca), that is confined to a small area of the central rainforest of Madagascar. We identify potential population distributions and climatically stable areas. Results suggest a potential south-eastwardly shift away from the current range and a decrease in suitable habitat from 2110 km2 under current climate to between 112 km2 – 138 km2 by the year 2085 – less than 7 % of currently available suitable habitat. Results also indicate that the amount of golden mantella habitat falling within protected areas decreases by 86 % over the same period. We recommend research to ascertain future viability and the feasibility of expanding protection to newly identified potential sites. This information can then be used in future conservation actions such as habitat restoration, translocations, re introductions or the siting of further wildlife corridors or protected areas.
Avirulence gene based RFLP and rep-PCR distinguish the genetic variation of Xanthomonas oryzae pv. oryzae pathotypes in Bangladesh

Bacterial blight (BB) caused by X. oryzae pv. oryzae is one of the devastating diseases of rice mostly in Asia. Genomes of X. oryzae pv. oryzae is highly variable due to rearrangement of the large contents of transposable elements and dynamic changes of X. oryzae pv. oryzae population regulated efficiency of the control measures used for BB management of rice worldwide. In this study, genetic variation of X. oryzae pv. oryzae pathotypes of Bangladesh was studied using aviruelnce gene based RFLP and rep-PCR techniques aimed to formulate pathogen targeted effective control measures against BB of rice. Eight pathotypes of X. oryzae pv. oryzae field isolates were identified based on their reactions against 10 Near Isogenic Lines (NILs). Among eight pathotypes, pathotypes IV and V contained higher number of isolates which were 30.13% and 23.01% respectively while pathotype VIII revealed as minimum containing only 2.51% of total isolates. These eight pathotypes were studied for their genetic variation by RFLP using avrBs3 repeat domain as probe. The results conceded that Bangladeshi X. oryzae pv. oryzae strains seem carrying a minimum of two and maximum of nine avrBs3 family genes homologs. The resistance phenotype on IRBB7 and IRBB10 NILs also indicated presence of two major avrBs3 family genes viz. avrxa7 and avrXa10 in some pathotypes. Relationship of phylogenicity exhibited that X. oryzae pv. oryzae pathotypes assorted into two RFLP haplotypes as well as these haplotypes are largely distributed in Bangladesh. Phylogenetic analyses carried out by (REP, ERIC), rep-PCR and BOX depicted the presence of two main molecular haplotypes of X. oryzae pv. oryzae pathotypes. The relationship between pathotypes and molecular haplotypes of X. oryzae pv. oryzae in Bangladesh indicated that the same lineage possesses different pathotypes and different lineage possesses different pathotypes. The results indicated that eight different pathotypes might have originated from common inherited haplotypes with a wide genetic variation.
Growth Capable Tensegrity Structures as an Enabler of Space Colonization

We live at a remarkable point in time. Among the profusion of possibilities that present themselves is the potential for the first human settlements beyond our home planet. We demonstrate herein that humans in the near future can live on constructed earth-grade real estate in space, either orbiting above Earth, Mars, the Moon, or at any of the stable libration points of the Earth-Moon system. The technology for, and design of such a habitat are the subject of this paper. Credit for inspiration must go to the visionary e↵orts of Gerard K. O’Neill in the 1970’s.1 O’Neill’s concept was significantly ahead of its time, however, and no economically feasible approach was found to attain the immense structures envisaged. While the concept has gained wide currency in the realm of science fiction, its realization is still generally considered to lie in the distant future. However the conjunction of two new and fruitful ideas give grounds for concluding, to the contrary, that the space habitat concept can soon be realized. The first of these new and fruitful ideas is the creation of rigorous mathematics for the engineering of tensegrity structures. This mathematics underlies and makes possible the second idea, that of growing a very large space habitat structure from a small seed structure, compact enough to be launched from earth, and to grow the habitat using chiefly space based materials. Following a brief description of our design configuration, we will outline the relevance of tensegrity engineering in this context.
Green Communications: RF Energy Harvesting using Transparent Rectenna Arrays

Communication is a process of transferring information from a source to a destination in an attempt to create shared understanding. Before the wireless age started 15-20 years ago, people mainly relied on the wired networks for communications. Nowadays, wireless communications has become a necessity for many people. Every year, for the cellular networks alone, there are over 120,000 new base stations deployed around the world [1]. Each base station consumes an average power of 1 KW and uses a total of 8,766 KW-hours each year. This amount of power is equivalent to the energy consumption of two typical 3-bedroom family houses in the UK, or one average household in the USA [2]. In some countries, the costs of power consumptions in the base stations of cellular networks account for 50% of the overall expenses of the service providers. It is also startling to learn that over 1% of the entire world’s carbon footprint is due to telecommunications. The implication of carbon footprint and energy cost is making green communications imperative and urging much research work on energy saving and harvesting. The OMICS Group special features such as Digital Book (paperless) and Open Access just well fit green communications.