Miracle-dz/UniFAR-FTUs huggingface dataset:
A Successive Linearization in Feasible Set Algorithm for Vehicle Motion Planning in Unstructured and Low-Speed Scenarios

Motion planning in unstructured and low-speed environments is a fundamental and difficult task for all mobile robotics. If we view motion planning as an optimization problem, the non-convex collision avoidance constraints and the nonlinear vehicle dynamic constraints make motion planning challenging and time-consuming. In this paper, we propose a Successive Linearization in Feasible Set (SLiFS) algorithm to address these two difficulties. SLiFS consists of two steps. The first step is to iteratively construct convex feasible sets around the current trajectory to approximate non-convex collision avoidance constraints. The second step is to successively linearize the nonlinear dynamic constraints along the current trajectory and further penalize them into the objective function to avoid infeasible linearized constraints, so that the current trajectory can be reshaped within the obtained convex feasible sets by iteratively solving the linearized optimization problem. The main innovation of SLiFS algorithm is that we consider the $L_{1}$ norm type penalty function in the second step. We find that the sparsity of the $L_{1}$ norm might help to satisfy the robotic dynamic constraints by numerical experiments. Numerical testing results show that our proposed SLiFS algorithm has a high success rate to find feasible trajectories and costs much less time than the classical interior-point method.
A highly stable dimethyl-functionalized Ce(IV)-based UiO-66 metal–organic framework material for gas sorption and redox catalysis

The new, dimethyl-functionalized Ce(IV)-based UiO-66 (UiO = University of Oslo) metal–organic framework (MOF) material Ce-UiO-66-(CH3)2 (1) was successfully synthesized under solvothermal conditions (100 °C, 15 min) by employing ammonium cerium(IV) nitrate and the 2,5-dimethyl-1,4-benzenedicarboxylate (H2BDC-(CH3)2) ligand in a DMF/H2O (DMF = N,N-dimethyl formamide) mixture. The phase purity of the as-synthesized and thermally activated form (1′) of the compound was confirmed by a combination of X-ray powder diffraction (XRPD) analysis, Fourier transform infrared (FT-IR) spectroscopy and thermogravimetric (TG) analysis. As verified by the thermogravimetric analysis, the compound is thermally stable up to 300 °C in air atmosphere. Based on the XRPD measurements, the material retains its crystallinity after treatment with water, methanol, acetic acid and 1 M HCl. As confirmed by the gas sorption experiments, the compound shows significant microporosity towards N2 (BET surface area = 845 m2 g−1) and CO2 (adsorption capacity = 34 cm3 g−1 at 0 °C and 1 bar). The catalytic activity of 1′ has been studied in the oxidation of styrene and cyclohexene using tert-butylhydroperoxide (TBHP) as the terminal oxidant. The catalyst is reusable for four cycles with no significant drop in its activity which is further confirmed by a hot filtration experiment.
Fit for Fire: A 10-Week Low-Cost HIFT Experiential Learning Initiative between Underrepresented Kinesiology Undergraduates and Hypertensive Deconditioned Firefighters Improves Their Health and Fitness

The aims of this study were to investigate the feasibility of an experiential learning initiative led by minority exercise science undergraduates and to observe the adaptations after a 10-week high-intensity functional training (HIFT) program in 34 underrepresented, hypertensive, and overweight/obese professional firefighters (PFF; age: 36.8 ± 11.0 years, body weight: 97.3 ± 21.5 kg, height: 181.7 ± 6.6 cm; BMI: 29.2 ± 4.9 kg/m2). Data were analyzed for muscular strength and endurance, cardiorespiratory endurance, body composition, agility, flexibility, and readiness for change. The PFFs trained two to three times weekly during their work shifts at vigorous intensity for 40 min. Their resting diastolic blood pressure and resting heart rate significantly decreased. Improvements in agility, muscular strength, and readiness for change were observed. This HIFT experiential learning initiative was feasible and beneficial and improved the PFFs’ health and physical fitness with limited resources. Accredited programs in exercise science participating in low-cost initiatives may aid in mitigating public service workers’ compensation and injury rates to better respond to occupational demands.
The effect of the flipped classroom model on Iranian English foreign language learners: Engagement and motivation in English language grammar

Abstract Flipped Learning is a rather new approach to teaching. In this approach, the place of teacher’s lectures in the classroom and homework assignments are exchanged to enhance active learning, engagement, and motivation. The aim of this research was to determine the effect of the flipped classroom model on intermediate and upper-intermediate learners’ engagement and motivation in learning English grammar. In the current study, quasi-experimental research was used. This research was conducted within the English course for six weeks’ period in the summer term in 2019. Three hundred and sixty English learners have been chosen through multi-stage cluster sampling from four different institutes. They were randomly assigned to control and experimental groups. Data were collected both pre-test and post-test. Among 50 grammar videos, eight grammar contents based on CVI (content validity index) CVR (content validity ratio) (0.42, 0.79) were selected. Questionnaires’ validity was checked by some experts and their reliability was checked through Cronbach’s Alpha test. Questionnaires were Hermense (motivation, ∝ = 0.97) and SEI (engagement, ∝ = 0.93). In the current study, descriptive statistics, and ANCOVA tests were used in the analysis of the quantitative data. Results indicated that learners in the flipped classroom performed better than learners in the traditional class. It was concluded that there was a significant difference between the pre-test and post-test scores of the experimental group whereas there was no significant difference between the pre-test and post-test scores of the control group. The findings of this study carry important implications for foreign language syllabus designers, language instructors, etc.
A Broadband, mm-Wave SPST Switch With Minimum 50-dB Isolation in 45-nm SOI-CMOS

This article describes a single-pole, single-throw (SPST) CMOS switch aimed at integrated transceiver applications. The SPST switch realizes better than 50-dB isolation (ISO) across dc-to-43 GHz while maintaining an insertion loss (IL) below 3 dB. To maximize ISO, substrate coupling is compensated using bilateral RF signal cancellation in a fully differential circuit topology. Measured RF input power for 1-dB compression (IP1dB) of the IL is +19.6 dBm, and the measured input third-order intercept point is +30.4 dBm (both assuming differential inputs at 20 GHz). The prototype is fabricated in GlobalFoundries 45-nm RF-SOI CMOS technology and has an active area of 0.0058 mm2. Monte Carlo simulations predict variations due to processing of 8.3% and 2.75% in IL and ISO, respectively, ±0.2 dB variation (for both IL and ISO) from a 5% change in supply voltage, and ±0.1-dB variation (both IL and ISO) for a 0 °C–85 °C temperature sweep.
A Virtual Space Vector PWM With Active Neutral Point Voltage Control and Common Mode Voltage Suppression for Three-Level NPC Converters

Virtual space vector pulsewidth modulation (VSVPWM) provides a new approach to neutral point voltage (NPV) control and common mode voltage (CMV) suppression. Few values of coefficients configured in the virtual vectors cannot adjust the NPV continuously. An improved VSVPWM (IVSVPWM) with active neutral point voltage control (ANPVC) and CMV suppression is proposed in this article. Continuously variable coefficients configured in the virtual vectors adjust the NPV actively and continuously for any load power factor over the full modulation indexes. Failure of CMV suppression is analyzed, and the undesired vectors with high CMV are avoided by limiting the range of the variable coefficients. The limited variable coefficients and the selected basic vectors with low CMV suppress the CMV effectively. Simulation and experimental results are given to validate the proposed novel IVSVPWM, which can achieve quicker ANPVC and reduce CMV to half of the conventional VSVPWM simultaneously.
A new late devonian fish fauna from Northeastern Brazil

ABSTRACT Devonian fishes from South America tend to be fragmentary and sparse, catching little attention for palaeontological sampling. However, some of these remains demonstrate a wide variety of fishes which help understanding environmental and palaeogeographic patterns across the Devonian. In the Parnaíba Basin, the occurrence of Devonian fishes was thought to be restricted to the Pimenteira Formation (Middle Devonian; Eifelian-Givetian). It is described here for the first time fish remains from the Upper Devonian (Famennian) Longá Formation. These fossils represent at least two chondrichthyan (including acanthodians) taxa based on fin spines and a jaw fragment, and osteichthyan taxa based on dermal plates. Although fragmentary, these represent the first Devonian osteichthyan occurrence for the Parnaíba Basin and add to the scares Late Devonian fish record from Brazil. Recent studies have questioned the previous interpretations regarding the relationship between Gondwana and Euramerica, instead supporting more endemic vertebrate communities. Our results reinforce the palaeontological potential of the Palaeozoic strata of the Parnaíba Basin and call for additional work on the region, which may shed light on the diversification of vertebrates across Gondwana.
An Atomic-Scale X-ray View of Functional Oxide Films

An Atomic-Scale X-ray View of Functional Oxide Films I-Cheng Tung Complex oxides are a class of materials that exhibit a wide variety of physical functionalities, such as ferroelectricity, colossal magnetoresistance, mulitferroicity and superconductivity, with outstanding potential for meeting many of our technological demands. The primary objective of this dissertation is to understand the structural and electronic behavior of complex oxide ultrathin films subjected to confinement, lattice misfit and broken symmetry at the interface. In complex oxide ultrathin films, heteroepitaxial synthesis has evolved into a reliable strategy to engineer orbital-lattice interactions in correlated materials and led to new and entirely unexpected phenomena at their interfaces. I experimentally demonstrated that the bulk crystal symmetry directs the atomic and orbital responses adopted by coherently strained ultrathin films of RNiO3 (R = La, Nd) with detailed X-ray scattering, polarization-dependent X-ray absorption spectroscopy (XAS) and supported by a mathematical point group symmetry analysis, found that strain-stabilized phases maintain a “memory” of their bulk state. This topic, however, touched only upon the properties of such films. A fundamental challenge in this research area occurs before this and centers around the understanding of how to create high-quality films with arbitrary configurations. A longstanding challenge in the oxide thin film community has been the growth of An+1BnO3n+1 Ruddlesden-Popper (RP) compounds. To
The Romanian Orthodox Church, the European Union and the Contention on Human Rights

Since the 1990s, there has been conflictual interactions between Orthodox Christian churches and human rights in South Eastern Europe, especially during the process of European integration. In this work, I shall concentrate on the case of the Romanian Orthodox Church and explore its current position towards human rights that has developed within the context of EU membership. Focusing on the influence that European integration has had on the Romanian Orthodox Church, I hypothesise a re-orientation of the latter from a position of closure and a general rejection of human rights in the direction of their partial acceptance, with this being related to its attempt to develop a European identity.
Evidence of E × B staircase in HL-2A L-mode tokamak discharges

Theory and simulation suggest the existence of an E × B staircase in the plasma core consisting of a series of nested m/n = 0/0 E × B shear layers that regulate turbulent transport across the layers together with mesoscale transport events occurring between them. Here, we show evidence for these phenomena in HL-2A L-mode discharges. Both high resolution electron cyclotron emission T e profiles and frequency modulated continuous wave reflectometer n e profiles show multiple gradient corrugations. The analysis of simultaneous poloidally and radially separated beam emission spectroscopy turbulent density fluctuation measurements over most of the minor radius of the plasma provides the evidence of eddy tilting and propagation direction reversals largely coincident with the profile corrugations, with long-range transport events occurring between these locations. The results provide significant additional evidence for the existence of an E × B staircase that influences particle and heat transport in L-mode discharges.
Selection and Validation of Appropriate Reference Genes for Gene Expression Studies in Schima Superba

Background Quantitative real-time PCR (qRT-PCR) is a reliable and high-throughput technique for gene expression studies, but its accuracy depends on the expression stability of reference genes. Schima superba is a strong resistance and fast-growing timber specie. However, so far, reliable reference gene identifications have not been reported in S. superba. In this study, we screened and verified the stably expressed reference genes in different tissues of S. superba.Results Nineteen candidate reference genes were selected and evaluated for their expression stability in different tissues. Three software programs (geNorm, NormFinder, and BestKeeper) were used to evaluate the reference gene transcript stabilities, and comprehensive stability ranking was generated by the geometric mean method. Our results identified that SsuACT was the most stable reference gene, SsuACT + SsuRIB was the best reference genes combination for different tissues. Finally, the stable and less stable reference genes were verified using the SsuSND1 expression in different tissues.Conclusions This is the first report to verify the appropriate reference genes for normalizing gene expression in S. superba for different tissues, which will facilitate future elucidation of gene regulations in this species, and useful references for relative species.
A Pseudomonas plant pathogen uses distinct modes of stationary phase persistence to survive bacteriocin and streptomycin treatments

Antimicrobial treatment of bacteria often results in a small population of surviving tolerant cells, or persisters, that may contribute to recurrent infection. Antibiotic persisters are metabolically dormant, but the basis of persistence to membrane-disrupting biological compounds is less well-understood. We previously found that the model plant pathogen Pseudomonas syringae pv. phaseolicola 1448A (Pph) exhibits persistence to tailocin, a membrane-disrupting biocontrol compound with potential for sustainable disease control. Here we compared physiological traits associated with persistence to tailocin and to the antibiotic streptomycin, and established that both treatments leave similar frequencies of persisters. Microscopic profiling of treated populations revealed that while tailocin rapidly permeabilizes most cells, streptomycin treatment results in a heterogeneous population of redox and membrane permeability states. Sorting cells according to redox reporter intensity identified streptomycin persisters among the low-redox fraction, but tailocin persisters were only cultured from the fraction with intermediate redox activity. Cells from culturable fractions were able to infect host plants, while nonculturable redox-active cells were not. Tailocin and streptomycin were effective in eliminating all persisters when applied sequentially, in addition to eliminating cells in other viable states. This study identifies distinct redox states associated with antibiotic persistence, tailocin persistence, and virulence, and demonstrates that tailocin is highly effective in eliminating dormant cells.
Business Environment: Designing and Explaining the New Environmental Hostility Model in Small and Medium Enterprises

This study aims to explain and elaborate a new model for the business environmental hostility in small and medium enterprises in the science and technology park in Kermanshah (Iran). The research method is a mixed method. Content analysis was used in the qualitative part, and a confirmatory factor analysis was used in the quantitative section. In the qualitative section for the environmental hostility dimension of the environmental turbulence, two components of competitive turbulence and regulatory turbulence, as well as seven sub-components were identified and validated. As a consequence, the conceptual model was extracted. This study proposed a conceptual model of business environmental hostility and the researcher-made questionnaire of environmental hostility confirmed with high validity and reliability. The model was verified based on the small and medium-sized enterprises in Kermanshah (Iran), and it is suggested that this new environmental hostility model can be used in practice to improve managing the small and medium-sized enterprises.
Machine-Learning-Based Efficient and Secure RSU Placement Mechanism for Software-Defined-IoV

The massive increase in computing and network capabilities has resulted in a paradigm shift from vehicular networks to the Internet of Vehicles (IoV). Owing to the dynamic and heterogeneous nature of IoV, it requires efficient resource management using smart technologies, such as software-defined network (SDN), machine learning (ML), and so on. Roadside units (RSUs) in software-defined-IoV (SD-IoV) networks are responsible for network efficiency and offer several safety functions. However, it is not viable to deploy enough RSUs, and also the existing RSU placement lacks universal coverage within a region. Furthermore, any disruption in network performance or security impacts vehicular activities severely. Thus, this work aims to improve network efficiency through optimal RSU placement and enhance security with a malicious IoV detection algorithm in an SD-IoV network. Therefore, the memetic-based RSU (M-RSU) placement algorithm is proposed to reduce communication delay and increase the coverage area among IoV devices through an optimum RSU deployment. Besides the M-RSU algorithm, the work also proposes a distributed ML (DML)-based intrusion detection system (IDS) that prevents the SD-IoV network from disastrous security failures. The simulation results show that M-RSU placement reduces the transmission delay. The DML-based IDS detects the malicious IoV with an accuracy of 89.82% compared to traditional ML algorithms.
Surface-enhanced Raman scattering substrate based on cysteamine-modified gold nanoparticle aggregation for highly sensitive pentachlorophenol detection

A new surface-enhanced Raman scattering (SERS) substrate based on cysteamine-modified gold nanoparticles (AuNPs) was successfully immobilized onto a glass surface via the strong covalent interaction of the Au–S bond, and this substrate was used to monitor pentachlorophenol (PCP) in water samples. The cysteamine monolayer on AuNPs can effectively adsorb PCP onto the surface of the substrate through electrostatic interactions. The Raman bands of cysteamine can be used as an internal standard for quantitative analysis. Quantitative analysis can be performed in ultrapure water and tap water without involving any sample pretreatment, and the minimum detectable concentration is up to 1 nM (0.26 μg L−1), which is much lower than the maximum contaminant level (MCL, 1 μg L−1) prescribed by the U.S. Environmental Protection Agency (EPA). The proposed PCP sensor shows excellent long-term stability and good uniformity. Thus, the proposed SERS-based assay is a valuable tool demonstrating high potential for PCP monitoring in the environment.
Should I stay or should I go? Global COVID-19 pandemic influence on travel intentions of Bulgarian residents

Research background: The COVID-19 pandemic brought an unparalleled global lockdown and economic paralysis, with the travel and tourism sector being among the worst affected industries worldwide. This situation has set a lot of questions regarding the future of tourism and its re-shaping into a ‘new normality’, among which those referring to anticipated changes in tourist demand and behavior stand out. Such questions are empirical in nature and imply conducting of studies in various contexts in order to identify customers’ perceptions, attitudes, intentions, and real behavior patterns. Purpose of the article: The paper presents results of a recent study of the influence of COVID-19 pandemic on travel intentions of Bulgarian citizens and discusses them in relation to other similar studies conducted in different countries. Methods: The online survey covered 654 respondents and was completed in the period 9-16 April 2020, so the study results outline travel intentions at a relatively early stage of the COVID-19 crisis. Findings & Value added: There was a strong impact of the global pandemic on travel at the time of the research but the findings indicate less significant influence on the respondents’ travel intentions for the future. While some of the outcomes support the generally expected consequences of the COVID-19 crisis, many are quite surprising and challenge existing anticipations for dramatic changes in tourist demand and behavior, at least in regards to Bulgarian customers.
In vitro production of small ruminant embryos: latest improvements and further research

This review presents the latest advances in and main obstacles to the application of invitro embryo production (IVEP) systems in small ruminants. This biotechnology is an extremely important tool for genetic improvement for livestock and is essential for the establishment of other biotechnologies, such as cloning and transgenesis. At present, the IVEP market is almost non-existent for small ruminants, in contrast with the trends observed in cattle. This is probably related to the lower added value of small ruminants, lower commercial demand and fewer qualified professionals interested in this area. Moreover, there are fewer research groups working on small ruminant IVEP than those working with cattle and pigs. The heterogeneity of oocytes collected from growing follicles in live females or from ovaries collected from abattoirs remains a challenge for IVEP dissemination in goats and sheep. Of note, although the logistics of oocyte collection from live small ruminant females are more complex than in the bovine, in general the IVEP outcomes, in terms of blastocyst production, are similar. We anticipate that after appropriate training and repeatable results, the commercial demand for small ruminant invitro-produced embryos may increase.