Miracle-dz/UniFAR-FTUs huggingface dataset:
Optimal Path Planning and Torque Minimization via Genetic Algorithm Applied to Cooperating Robotic Manipulators

This paper presents the formulation and application of a genetic algorithm based strategy for the determination of an optimal trajectory for a multiple robotic configuration. First, the motivation for multiple robot control and the current state-of-art in the field of cooperating robots are briefly given. This is followed by a discussion of energy minimization techniques in the context of robotics, and finally, the principles of using genetic algorithms as an optimization tool are included. The initial and final position of the end effector are specified. Two cases, one of a single manipulator, and the other of two cooperating manipulators carrying a common payload illustrate the approach proposed. The genetic algorithm identifies the optimal trajectory based on minimum joint torque requirements. The minimization of a suitably defined performance index involving joint torques implies that the trajectory thus obtained requires the least amount of torque.
APPLICATION OF TITANIUM IN SHIPBOARD SEAWATER COOLING SYSTEMS

Titanium alloys are evaluated as an alternative to the current copper-nickel components now employed in U.S. Navy surface ship seawater cooling systems. Titanium offers a solution to the accelerated seawater corrosion and erosion related attack being experienced in seawater systems aboard CG-47 class cruisers as well as other ship classes and can provide a means for extending service life and substantially improve reliability. Both the positive and potentially negative aspects of utilizing titanium in piping and heat exchangers are reviewed. An overall assessment of titanium versus copper-nickel alloys is provided with regard to piping and heat exchanger fabrication, cost, performance, design criteria, piping component (valves, pumps, etc.) selection criteria, and operational limitations.
On the Use of Surface Plasmon Resonance-Based Biosensors for Advanced Bioprocess Monitoring

Biomanufacturers are being incited by regulatory agencies to transition from a quality by testing framework, where they extensively test their product after their production, to more of a quality by design or even quality by control framework. This requires powerful analytical tools and sensors enabling measurements of key process variables and/or product quality attributes during production, preferably in an online manner. As such, the demand for monitoring technologies is rapidly growing. In this context, we believe surface plasmon resonance (SPR)-based biosensors can play a role in enabling the development of improved bioprocess monitoring and control strategies. The SPR technique has been profusely used to probe the binding behavior of a solution species with a sensor surface-immobilized partner in an investigative context, but its ability to detect binding in real-time and without a label has been exploited for monitoring purposes and is promising for the near future. In this review, we examine applications of SPR that are or could be related to bioprocess monitoring in three spheres: biotherapeutics production monitoring, vaccine monitoring, and bacteria and contaminant detection. These applications mainly exploit SPR’s ability to measure solution species concentrations, but performing kinetic analyses is also possible and could prove useful for product quality assessments. We follow with a discussion on the limitations of SPR in a monitoring role and how recent advances in hardware and SPR response modeling could counter them. Mainly, throughput limitations can be addressed by multi-detection spot instruments, and nonspecific binding effects can be alleviated by new antifouling materials. A plethora of methods are available for cell growth and metabolism monitoring, but product monitoring is performed mainly a posteriori. SPR-based biosensors exhibit potential as product monitoring tools from early production to the end of downstream processing, paving the way for more efficient production control. However, more work needs to be done to facilitate or eliminate the need for sample preprocessing and to optimize the experimental protocols.
Diagnóstico y análisis de estructuras de madera mediante técnicas no destructivas: aplicación a la Plaza Mayor de Chinchón (Madrid)

This article shows the work attributed to the assessment, diagnosis and intervention proposal regarding the seen timber structure at the Plaza Mayor in Chinchon (Madrid). Visual recognition techniques and other non-destructive and pseudo non-destructive methods were used such as microphotography, xilohigrometry, ultrasound velocity measurements, screw extraction and resistography.The investigative work allowed for the identification of the original woody species, the characterization of the structural timber and the identification of diverse types of damages and lesions present in order to carry out a structural assessment. It served as a basis to establish an intervention proposal based on the obtained data and the internationally recognized general principles applied to the particular case. Although the overall state of the timber is quite good, thanks to the actions carried out previously, suggestions for constructive intervention and treatments against biotic and abiotic damages were proposed.The investigative work was carried out by the research group of Timber Structures and Wood Technology of the University of Valladolid ( http://www.uva.es/maderas ), which is composed of multidisciplinary researchers with experience in the fields of construction and architectural restoration and wood technology.
Modeling the effect of topography on wind flow using a combined numerical-neural network approach

The impact of topography on design wind speed is addressed in current building codes and design standards by providing "speed-up" ratios for limited cases of terrain geometries. This paper proposes a combined numerical–neural network (NN) approach to provide speed-up ratios for a wide range of topographic features such as single and multiple hills, escarpments, and valleys. In this approach learning data required by the NN is generated via a detailed numerical approach based on computational fluid dynamics (CFD). Use of the developed model only requires simple geometrical input such as slope, height, and ground roughness while producing results of comparable accuracy to complex numerical evaluations. This combined CFD-NN approach not only produces data for new cases but also conveys the results of complex CFD simulations to the engineering profession (end user). Results compare well with an independent set of experimental data demonstrating the feasibility of the CFD-NN approach to generate data to apply wind design load provisions to buildings with upstream complex terrain.
The daily work load of refuse collectors working with three different collecting methods: a field study

The daily work load of 116 Dutch (male) refuse collectors working with polythene bags, two-wheeled mini-containers and large four-wheeled containers was studied. To this end a time analysis of the tasks and activities in the real working situation was made and the postures and the physiological work load of the collector working with the three different methods was assessed. Manual materials handling and the corresponding working postures were studied by means of observations. Heart rate (HR) was continuously recorded during the working day. Furthermore, to enable the assessment of the work load during refuse collecting as a percentage of the maximal oxygen uptake ([Vdot]O2max) every refuse collectors' relationship between HR and oxygen uptake was measured during a simulation of the tasks and activities in the laboratory. The range in total working time of the refuse collectors was large. Most time is spent on the task ‘loading’; this lasted on average about 5 h. The mean number of handled objects for the.
Validity of SDOF Models for Analyzing Two-Way Reinforced Concrete Panels under Blast Loading

The combined manual TM 5-1300/NAVFAC P-397/AFR 88-22, Structures to Resist the Effects of Accidental Explosions, published by the joint departments of the Army, the Navy, and the Air Force, has been used in all NATO countries for the past 50 years for protective design applications. The manual was recently reformatted to meet the Department of Defense Unified Facility Criteria (UFC). As a first step, the current production of the new document, UFC 3-340-02, focused on making the original TM 5-1300 available in a more functional format so that future technical updates can be facilitated. In this study, a single-degree-of-freedom (SDOF) model, based on the guidelines of the UFC 3-340-02, was used to formulate a FORTRAN code to predict the response of SDOF systems under blast. The code was used to generate pressure-impulse ( P-I ) diagrams for a series of two-way reinforced concrete (RC) panels with different dimensions, aspect and reinforcement ratios, and support conditions. The P-I diagram predictions wer.
CFD Simulation of Flow Tones from Grazing Flow past a Deep Cavity

Locked-in flow tones due to shear flow over a deep cavity are investigated using Large Eddy Simulation (LES). An isentropic from of the compressible Navier-Stokes equations (pseudo-compressibility) is used to couple the vertical flow over the cavity mouth with the deep cavity resonances (1). Comparisons to published experimental data (2) show that the pseudo-compressible LES formulation is capable of predicting the feedforward excitation of the deep cavity resonator, as well as the feedback process from the resonator to the flow source. By systematically increasing the resonator damping level, it is shown that strong lock-in results in a more organized shear layer than is observed for the locked-out flow state. By comparison, weak interactions (non-locked-in) produce no change in the shear layer characteristics. This supports the 40 dB definition of lock-in defined in the experiment.Copyright © 2006 by ASME
Power Saving MAC Protocols for WSNs and Optimization of S-MAC Protocol

Low power MAC protocols have received a lot of consideration in the last few years because of their influence on the lifetime of wireless sensor networks. Since, sensors typically operate on batteries, replacement of which is often difficult. A lot of work has been done to minimize the energy expenditure and prolong the sensor lifetime through energy efficient designs, across layers. Meanwhile, the sensor network should be able to maintain a certain throughput in order to fulfill the QoS requirements of the end user, and to ensure the constancy of the network. This paper introduces different types of MAC protocols used for WSNs and proposes S-MAC, a Medium-Access Control protocol designed for Wireless Sensor Networks. S-MAC uses a few innovative techniques to reduce energy consumption and support self-configuration. A new protocol is suggested to improve the energy efficiency, latency and throughput of existing MAC protocol for WSNs. A modification of the protocol is then proposed to eliminate the need for some nodes to stay awake longer than the other nodes which improves the energy efficiency, latency and throughput and hence increases the life span of a wireless sensor network.
Enhancing the Employability of Students Undertaking English Language and Linguistics Programs in Vietnam

This study addresses the development of employability skills among English-major graduates to facilitate their transition from university to the workplace. Contemporary research has pinpointed that universities fail to sufficiently prepare their students in terms of professional knowledge and work-related skills. There is also a mismatch between the focus of academic programs and the demands and requirements from potential employers regarding graduates’ performance. Drawing on the document analysis and simple descriptive statistics of the undergraduate English language/linguistics program descriptions of six distinct universities located across Vietnam, this study aims to explore the extent to which English-major students are empowered with employability skills and provide recommendations for promoting these skills. Findings show that there is a substantial shift in reconsidering the imbalance between theoretical and practical components in the program design. The programs also exhibit certain degrees of preparation for students’ employability through the curricular integration of generic skills such as critical thinking, public speaking, presentation skills, communication skills and research skills. This study reiterates the significance of promoting work-related skills and strengthening university-industry partnerships in designing academic programs and providing English-major students with hands-on experience.
Plant Part Selection and Preliminary Sufficiency Ranges for Sap Testing Interpretation of Greenhouse Herbs

HS-1123, a 4-page illustrated fact sheet by Robert C. Hochmuth, Eric H. Simonne, Lei Lani L. Davis, and Wanda L. Laughlin, describes the use of quick test in hydroponic greenhouse herb production. Includes figures to help identify the plant parts used for analysis in basil, cilantro, dill, mint, and oregano, references, and a table of typical nutrient ranges. Published by the UF Department of Horticultural Sciences, November 2007. HS1123/HS372: Plant Part Selection and Preliminary Sufficiency Ranges for Sap Testing Interpretation of Greenhouse Herbs (ufl.edu)
Three Phase Power Flow Incorporating Static Var Compensator

Application of Flexible AC Transmission Systems (FACTS) devices in a power system is a promising and more efficient way for the transfer and control of bulk amount of power. One of the problems encountered in power-systems operation is the generation of unbalanced voltages and currents in the presence of long transmission lines with few or no transpositions. This includes possible unbalances arising in source and load conditions, or indeed any items of plant such as shunt and series reactors. To improve or investigate these unbalance effects in any detail, a 3-phase load-flow solution that allows representation of all possible unbalances as they exist in the power-systems network without making any assumptions is essential. This paper deals with the three phase power flow incorporating Static Var Compensator (SVC). Here SVC is modeled using variable reactance modeling technique and incorporated into the single phase and three phase load flow. Newton Raphson power flow algorithm is adopted here. The performance of SVC to control the power flow and regulating voltage in the network is discussed. The performance analysis is carried out for 4 case studies namely single phase power flow, single phase power flow with SVC, three phase power flow and three phase power flow with SVC. The change in power flow and losses due to the unbalanced load condition in the three phases in illustrated. The studies are carried out in a standard 5 bus test system. Keywords: Three Phase Power flow, Static Var Compensator, Unbalanced system, Negative sequence components, Zero sequence components.
Analysis of Aircraft Nonlinear Dynamics Using Non-Gradient Based Numerical Methods and Attainable Equilibrium Sets

Multiple equilibrium solutions of aircraft motion equation are investigated using nongradient based numerical methods and computation of attainable equilibrium sets. The proposed approach may be applied to realistic industrial scale aircraft aerodynamic models based on look-up data tables. Advantages of this method and its joint use with predictorcorrector techniques for continuation and bifurcation analysis of aircraft nonlinear dynamics are discussed. A number of computational examples for aircraft dynamics investigation are presented for a generic airliner aerodynamic model developed within the SUPRA research project – “Simulation of Upset Recovery in Aviation” – funded by the European Union 7 th Framework Program.
Small square dual spiral printed antennas

A novel shorted dual spiral printed antenna is presented. The antenna consists of two interleaved shorted spiral radiators and a feed network etched on a high dielectric material below the ground plane. A 10 dB return loss bandwidth of 9.2% has been achieved with an omni-directional radiation pattern. The proposed antenna is 28% smaller than a conventional shorted patch antenna, making it very desirable for mobile communication handset terminals.
Chemical Threats Diagnosis Expert System (CTDES)

Chemical threats in open war fields or terrorist attacks are a serious possibility. Chemical leakage, mass destruction weapons and terrorism attacks are some sources of exposure to chemical agents. If a treatment procedure is implemented soon enough to patients exposed to chemical agents, the number of victims will certainly be reduced. Therefore, the need of an available expert who can diagnose the chemical agent and provides the proper treatment is of a paramount necessity. However, there is a lack for such experts. In this paper we introduce a rule-based expert system that diagnoses the patients and provides a decision mechanism to determine which chemical agent the patient has been exposed to. According to our knowledge, no expert system has been developed for this problem. We will demonstrate the characteristics and side effects of different types of chemical agents and we will choose the important and appropriate set of signs and side effects that construct our decision tree in order to build our knowledge base and inference rules. The CLIPS expert system is used to develop the knowledge-based system. We believe that the proposed expert system would provide a good assistant to medical teams especially in critical periods of time.
Numerical simulation of high-current pulsed arc discharge in air

A computational model of high-current pulsed arc discharge in air is proposed. This is, in general, a 2D model which takes into account the gas dynamics of the discharge channel, real air thermodynamics in a wide range of pressures and temperatures, the electrodynamics of the discharge including the pinch effect, and radiation. The 1D version of the model is tested and verified on several numerical and experimental works reported recently. It is concluded that low and moderate current discharges are satisfactorily described with the model. The model was then applied to simulate the electric discharge in air for the currents 1–250 kA and characteristic rise times in 13–25 µs, and the results of the calculations were compared with experimental ones. It was concluded that most characteristics of the discharge are predicted well. Namely, the arc column radius and shock wave position agree well with experimental data for all the current amplitudes and rise times considered. Radial distributions of temperature and electron density also satisfactorily agree with experimental data. It was found that the pinch effect should be considered for currents higher than 100 kA.
Approaches to Modelling 
Heterogeneity in Longitudinal 
Studies

This thesis is about estimation bias of longitudinal data when there is correlation between the explanatory variable and the individual effect. In our study, we firstly introduce what is longitudinal data, then we introduce the commonly used estimation methods for the general linear model: the least squares method and maximum likelihood method. We apply these estimation methods to three simple general models which are commonly used to analyse longitudinal data. Secondly, we use frequentist and Bayesian analysis to explore the estimation bias theoretically and empirically, with an emphasis on the heterogeneity bias. This bias occurs where random effect estimation is used to analyse data with nonzero correlation between explanatory variables and the individual effect. We then empirically compare the estimated value with the true value. In this way, we demonstrate and verify the theoretical formulation which can be used to determine the size of the bias [Mundlak, 1978]. In order to avoid the estimation bias, the fixed effect estimation should be used to get the better solution under nonzero correlation situation. The Hausman test is used to confirm this. However, the bias not only occurs when we use frequentist analysis, but also exist by using the Bayesian estimation of random effect model. Finally, we follow the Mundlak [1978] idea, then define the special Bayesian model which can be used as Hausman test and as a comparable model. We also prove that it is best fit model among the random effect, fixed effect and pooled model if there is correlation between explanatory variables and individual effect. Throughout this thesis, we illustrate this ideas using examples based on real and simulated data.
Exponential Stability With RISE Controllers

A class of continuous robust controllers termed Robust Integral of the Sign of the Error (RISE) have been published over the past two decades as a means to yield asymptotic tracking error convergence and asymptotic identification of time-varying uncertainties, for classes of nonlinear systems that are subject to sufficiently smooth bounded exogenous disturbances and/or modeling uncertainties. Despite the wide application of RISE-based techniques, an open question that has eluded researchers during this time-span is whether the asymptotic tracking error convergence is also uniform or exponential. This question has remained open due to certain limitations in the traditional construction of a Lyapunov function for RISE-based error systems. In this letter, new insights on the construction of a Lyapunov function are used that result in an exponential stability result for RISE-based controllers. As an outcome of this breakthrough, the inherent learning capability of RISE-based controllers is shown to yield exponential identification of state-dependent disturbances/uncertainty.
Security consideratiolis for the e-enabled aircraft

The aviation industry continues to adopt Internet Protocol (IP) technology as the design basis for networking the functional domains both onboard and offboard commercial aircraft. The emerging network domains include connections to wireless networks reaching to ground-based services for Business Operations and Air Traffic Control. This increased IP connectivity to e-services is the beginning of the air commerce web. Realizing the benefits of these eservices will be dependent upon the choice of security measures used in domain and cross-domain communications. This paper addresses security considerations to be taken into account for the various eservice domains. Security mechanisms available in today's protocols are described and summarized. The lack of a coherent overall aviation security solution is also discussed. The paper intentionally does not refer to specific technical or procedural vulnerabilities that may exist in today's designs.
Cloud-to-ground lightning and near-surface fire weather control wildfire occurrence in Arctic tundra

Geophysical Research Letters Supporting Information for Cloud-to-ground lightning and near-surface fire weather control wildfire occurrence in Arctic tundra Jiaying He1, 2, Tatiana V. Loboda2, Dong Chen2, and Nancy H. F. French3 1Department of Earth System Science, Ministry of Education Key Laboratory for Earth SystemModeling, Institute for Global Change Studies, Tsinghua University, Beijing 100084, China.