Miracle-dz/UniFAR-FTUs huggingface dataset:
Two-stage calibration of a 6-axis force-torque sensor for robust operation in the Mars 2020 robot arm

ABSTRACT A main objective of the Mars 2020 rover mission (Perseverance) is to collect and preserve samples of rock and soil from the Martian surface. To accomplish this task, the Perseverance Rover carries a Sampling and Caching Subsystem outfitted with Coring Drill mounted on a 5 degree-of-freedom (DoF) robotic arm. Safe operation of the Robotic Arm and its tools relies on force feedback, provided by a custom Force-Torque Sensor (FTS) which is positioned to sense end-effector external loads. This work describes the methods and algorithms used in the calibration of the Robotic Arm FTS to achieve the required force-feedback accuracy over all expected Mars and Earth operating environments. Specifically, we use a two-stage, least-squares optimization process to generate an FTS calibration model that is fit to both sensor-level and system-level calibration data, while implicitly compensating for offset, scaling, and thermal errors observed during sensor integration into the robotic arm system. This technique is compatible with remote FTS re-calibration while the rover is operating on Mars. Data collection strategies, standalone versus system-integrated sensor findings, results of validation exercises in Earth-ambient and Mars-like environments, and initial FTS commissioning data on Mars are all included. GRAPHICAL ABSTRACT
Formulation, Development and Evaluation of in-situ Periodontal Gel Containing Ofloxacin

In-situ gel forming formulations are a novel concept of providing drugs to individuals as a liquid dosage form yet achieving sustained release of the drug for the required duration. Different polymer based distribution schemes have been created that can boost the residence time of the product at the drug absorption location. These formulations exist as a flowing system before administration and at the physiological environment it gets converted into viscoelastic gel. The available therapies are to minimize the bacterial infection and to regenerate the damage done by infection and inflammation. The therapies involve systemic therapy, conventional therapy, as well as local therapy. Aim of the present work was to formulate in-situ gel of ofloxacin and it is evaluated for antibacterial activity and stability and it showed good antibacterial activity for both gram positive and gram negative microorganisms and was stable at refrigerated temperature over three months. The results indicated that the formulation could be utilized to maintain the localized drug concentration for a longer period and increase patient compliance with lesser adverse effects.
Understanding the Influence of Wake Cavitation on the Dynamic Response of Hydraulic Profiles under Lock-In Conditions

To accelerate the integration of fluctuating renewable energy technologies in the power systems, it is necessary to increase the flexibility of hydropower by operating turbines at off-design conditions. Unfortunately, this strategy causes deleterious flow phenomena such as von Kármán’s vortices at the wake of the vanes and/or blades. When their shedding frequency lies in the vicinity of a structure’s natural frequency, lock-in occurs and vibration amplitudes increase significantly. Moreover, if cavitation occurs at the centers of these vortices, the structure’s dynamic response will be modified. In order to understand this interaction and to avoid its negative consequences, the vibration behavior of a NACA 0009 hydrofoil under a torsional lock-in condition was numerically simulated for cavitation-free and cavitating-flow conditions. The results showed that the presence of vortex cavitation modified the formation and growth process of shed von Kármán vortices in the near-wake region which, in turn, caused an increase of the work performed by the hydrofoil deformation on the surrounding flow and a sharp decrease of the maximum vibration amplitude under resonance conditions.
Supersaturation, buoyancy, and deep convection dynamics

Abstract. Motivated by recent discussions concerning differences of convective dynamics in polluted and pristine environments, the so-called convective invigoration in particular, this paper provides an analysis of factors affecting convective updraft buoyancy, such as the in-cloud supersaturation, condensate and precipitation loading, and entrainment. We use the deep convective period from simulations of daytime convection development over land discussed in our previous publications. An entraining parcel framework is used in the theoretical analysis. We show that for the specific case considered here, finite (positive) supersaturation noticeably reduces pseudo-adiabatic parcel buoyancy and cumulative convective available potential energy (cCAPE) in the lower troposphere. This comes from keeping a small fraction of the water vapor in a supersaturated state and thus reducing the latent heating. Such a lower-tropospheric impact is comparable to the effects of condensate loading and entrainment in the idealized parcel framework. For the entire tropospheric depth, loading and entrainment have a much more significant impact on the total CAPE. For the cloud model results, we compare ensemble simulations applying either a bulk microphysics scheme with saturation adjustment or a more comprehensive double-moment scheme with supersaturation prediction. We compare deep convective updraft velocities, buoyancies, and supersaturations from all ensembles. In agreement with the parcel analysis, the saturation-adjustment scheme provides noticeably stronger updrafts in the lower troposphere. For the simulations predicting supersaturation, there are small differences between pristine and polluted conditions below the freezing level that are difficult to explain by standard analysis of the in-cloud buoyancy components. By applying the piggybacking technique, we show that the lower-tropospheric buoyancy differences between pristine and polluted simulations come from a combination of temperature (i.e., latent heating) and condensate loading differences that work together to make polluted buoyancies and updraft velocities slightly larger when compared to their pristine analogues. Overall, the effects are rather small and contradict previous claims of a significant invigoration of deep convection in polluted environments.
Leukocyte and Monocyte Counts as Predictors for Metabolic Syndrome, Hypertension and Type 2 Diabetes in Taiwan Citizens: a 9-year Longitudinal Study

Cardiovascular disease whose correlation with metabolic syndrome and diabetes has been well established. As an aspect of preventive medicine, we conducted a 9-year longitudinal study to identify the relationship between easily measured hematologic parameters, future metabolic syndrome (MetS), hypertension and type 2 diabetes mellitus (T2DM) according to age distribution. Divided into three groups according to age (young age: <40, middle age: ≧40 and <65 and old age: ≧65), 10,328 participants, receiving general medical inspection at the health management centre of Tri-Service General Hospital (TSGH) in Taiwan from 2007 to 2015, had been enrolled in the present study. Through multivariate regression analyses, the hazard ratio (HR) of total and subtype leukocyte count for MetS along with its components, hypertension and T2DM were demonstrated. All MetS components revealed significant association with total leukocyte count in multivariate regression models. Total leukocyte count was associated with future MetS, hypertension and T2DM despite of age at first, but failed in adjusted HR for the old group. Additionally, monocyte count showed significant association with all the aforementioned diseases only in middle-aged subjects but failed in the other two groups. Our results explore the promising value of total leukocyte count and monocyte count to identify the high-risk subjects, especially meddle-aged ones, having MetS, hypertension, and T2DM whether in the present or future.
Fine‐scale hydrological niche segregation in coastal dune slacks

Questions: Hydrological niche segregation is widespread and has been found across a range of different habitats. Different plant species can occupy distinct hydrological niches, and as a result fine-scale variability in hydrology can structure plant communities. However, these patterns may not be as clear in habitats where differences in hydrology are more short-lived, such as coastal dune slacks. We explored the extent that the hydrological regime structures dune slack plant communities. Location: Ainsdale Coastal Sand Dune National Nature Reserve, UK. Methods: Six hundred quadrats were surveyed, 100 in each of six coastal dune slacks. Water table levels are recorded
A Single-Actuated, Cable-Driven, and Self-Contained Robotic Hand Designed for Adaptive Grasps

Developing a dexterous robotic hand that mimics natural human hand movements is challenging due to complicated hand anatomy. Such a practical design should address several requirements, which are often conflicting and force the designer to prioritize the main design characteristics for a given application. Therefore, in the existing designs the requirements are only partially satisfied, leading to complicated and bulky solutions. To address this gap, a novel single-actuated, cable-driven, and self-contained robotic hand is presented in this work. This five-fingered robotic hand supports 19 degrees of freedom (DOFs) and can perform a wide range of precision and power grasps. The external structure of fingers and the thumb is inspired by Pisa/IIT SoftHand, while major modifications are implemented to significantly decrease the number of parts and the effect of friction. The cable configuration is inspired by the tendon structure of the hand anatomy. Furthermore, a novel power transmission system is presented in this work. This mechanism addresses compactness and underactuation, while ensuring proper force distribution through the fingers and the thumb. Moreover, this power transmission system can achieve adaptive grasps of objects with unknown geometries, which significantly simplifies the sensory and control systems. A 3D-printed prototype of the proposed design is fabricated and its base functionality is evaluated through simulations and experiments.
Status and Climate Applications of the 19th Century Forts and Volunteer Observer Database

The Climate Data Modernization Program Forts and Volunteer Observer Database (CDMP-Forts) currently consists of 450 keyed and 355 quality-controlled stations for the period 1788–1892, reaching across the United States. In conjunction with the Global Historical Climate Network (GHCN) daily data, this resource is invaluable for examining 19th century weather and climate in the United States. CDMP-Forts is incomplete, however, with a considerable amount of data remaining to be digitally transcribed and quality controlled. It is the intent of this paper to provide an overview of the processes involved in rescuing these data and to show important ways these data can be used and the considerations that may have to be taken to create meaningful analyses. Finally, the dataset is placed in the context of other global datasets and efforts to rescue historical weather data.
Incorporation of coconut milk residue in pasta: Influence on cooking quality, sensory and physical properties

A study was conducted to explore the potentiality of coconut milk residue (CMR) for cold extrusion (pasta preparation). Proximate analysis revealed that coconut milk residue is a rich source of crude fibre (24.03%) in addition to crude fat (41.55%), crude protein (5%), total carbohydrates (26.24%) and ash content (0.97%) at 2.23 per cent moisture. The effect of coconut milk residue upon replacing durum wheat semolina on cooking qualities, colour parameters, textural property and overall sensory acceptability of pasta samples were evaluated. Incorporation of coconut milk residue significantly influenced the observed parameters (P<0.01). Cooking time was unaffected by incorporating milk residue up to 10 per cent (P<0.05). Though the addition of residue increased the gruel loss (0.84 to 1.34%), the per cent loss was below the technologically acceptable limit (<8%). A similar effect was visualized in water absorption. Conversely, the firmness gets reduced with an increased concentration of coconut milk residue beyond 10 per cent. Pasta with 5 per cent and 10 per cent coconut milk residue were accepted as that of control by the sensory panel. Free fatty acid content was not affected by the period of storage (P>0.05). Thus, the study recommends incorporating 10 per cent coconut milk residue in durum wheat semolina for pasta preparation. Moreover, the entrepreneurs engaged in the coconut milk/milk powder and virgin coconut oil industry would be benefitted by adopting this venture, wherein they would be able to fetch huge additional income by placing their residue product on an upgraded fast-moving consumer good (FMCG) value chain.
Effects of synthetic silymarin-PLGA nanoparticles on M2 polarization and inflammatory cytokines in LPS-treated murine peritoneal macrophages

Objective(s): Silymarin (SM) is a natural antioxidant compound with good anti-inflammatory effects, but its poor water solubility restricts its usage. Today, nanomaterial compounds (such as PLGA Poly D, L-lactic-co-glycolic acid) can provide a proper drug delivery system and help improve the accessibility of bioactive compounds to cells and tissues. Materials and Methods: In this study, PLGA nanoparticles (NPs) containing SM (SM-PLGA) were synthesized and characterized and their biological effects were evaluated on M2 macrophage polarization to regulate inflammation. SM-PLGA NPs were fabricated by the oil in water emulsion (O/W) method. Macrophages (MQs) were isolated from mouse peritoneum by the cold RPMI lavage protocol. Primary mouse MQ cells were treated by SM and SM-PLGA NPs and then stimulated with lipopolysaccharide (LPS). M2 polarization was evaluated by measurements of cytokine secretion levels (TNF-α, IL1-β, and IL-10), flow cytometry markers (F4/80, CD11b, CD38, and CD206), and the expression of specific proteins (M2 Ym1 and Fizz1). Results: SM-PLGA characterization showed that NPs were fabricated in the desired form. SM and SM-PLGA decreased pro-inflammatory cytokines (TNF-α and IL1-β) and increased IL10 as an anti-inflammatory cytokine. On the other hand, the M2-associated markers and proteins increased following treatment with SM and SM-PLGA. Post-hoc analysis indicated that these changes were more pronounced in the SM-PLGA group. Conclusion: This study revealed that SM-PLGA could markedly promote M2 polarization, thereby providing a valuable medical approach against sepsis and septic shock.
A study of the functions of political appointees from a comparative perspective

In this article, the functions of political appointees have been classified by an index on the relation between politics and bureaucracy. Based on that classification, the real states of four democracies, the United States, the United Kingdom, France and Japan, have been examined. From this study, the causation consisting of the politico-administrative relation (concretely, the insider-outsider factor and the line-staff factor), the independent value, and the political appointees' functions (advice, decision-making and interface between politicians and civil servants), the dependent value, has been confirmed. Through this examination from a comparative perspective, a proposal of generalization about the political appointees' functions has been presented.
The Influence of Organizational Assimilation on Trust and Commitment with the Mediating Role of Co-creation of Value in HEIs

The purpose of this paper is to assess the influence of organizational assimilation on co-creation of value, trust and commitment of the university students. It also investigates the mediating role of co-creation of value between organization assimilation, trust and commitment. Data were gathered from 516 students from public and private universities under general category located in the capital city of Islamabad through survey method. Through the pooled confirmatory factor analysis using the software AMOS 20, it was found that organizational assimilation is a significant predictor of co-creation of value, trust and commitment. Co-creation of value was also found to significantly affect trust and commitment and found partially mediating between organizational assimilation, trust and commitment respectively. Theoretical contributions and practical implications are discussed including limitations and recommendations for future research. This study inter relates trans-disciplinary perspectives of organizational socialization and consumer cognitive psychology, and contributes significantly towards the body of knowledge in the field of organizational studies .
Disease modeling and drug screening using human airway organoids: a systematic review

Increasing levels of fine environmental dust particles due to industrialization and emerging respiratory illnesses, such as coronavirus disease 2019, pose serious threats to human life. The use of organoids for disease modeling and drug screening has been proposed as a new treatment approach for respiratory diseases. As discussed in this review, various pathogen models, genetic disease models, and patient-derived lung cancer organoid models have been reported for disease modeling and drug testing using human airway organoids. Despite these promising recent advances, several issues must be addressed before the disease modeling potential of human airway organoids can be fully realized. If systematic methods to produce mature airway organoids can be developed, and reproducible organoid models can be implemented using standardized protocols, airway organoids will likely become valuable respiratory disease models and drug screening tools.
Not so unique after all? Urgency and norms in EU foreign and security policy

ABSTRACT The EU Global Strategy puts ‘principled pragmatism’ at the core of EU foreign and security policy. This has also been promoted as away of closing the gap between talk and action. Still, the concept has been widely criticized and interpreted as away of making the Union’s ‘organized hypocrisy’ less glaring. By exploring key EU foreign and security policy strategies and policies implemented over the past decade, this article suggests that a certain pattern for when the EU acts normatively and when it acts strategically can be identified. While the overall ambition is still to promote a more normative policy, also when it comes at a considerable economic cost, there is a limit to how it is willing to go. Evidence suggests that when faced with a situation perceived as urgent, the EU becomes more prone to implement policies that are at odds with its own principles.
Observations Show Charge Density of Volcanic Plumes is Higher Than Thunderstorms

We analyze slow electric field change and lightning mapping measurements to provide insight into the characteristics of volcanic lightning and the associated implications on charging processes and the charge structure of a Vulcanian eruption plume. Data were obtained during a multi‐instrumental field campaign at Sakurajima volcano in 2015 when the Showa crater was active. We combine the electric field change and lightning mapping data from one explosive eruption on June 6, 2015 to identify individual flashes. From this, we interpret the flash type and polarity. In addition, the long‐time constant of the electric field change instrument allowed measurement of the quasi‐static field associated with charge separation in the eruption plume. We find that both intracloud and cloud‐to‐ground discharges occurred, and the polarity of cloud‐to‐ground discharges were all negative. The quasi‐static field measurement showed the plume carried a net negative charge. We calculate both the total charge transferred by cloud‐to‐ground discharges and the net charge density of the eruption plume. We find that cloud‐to‐ground discharges transfer an average of −0.41C per flash and the net charge density was −33C/ km3 . The percent error is at least 200%, due to uncertainty in the antenna gain. We show that these estimates are consistent with lightning that is 100 m in length. Further, the average flash rate during the first 8 s following the onset of eruption was five flashes per second. After that time, the flash rate abruptly decreased, which may be related to the end of gas‐thrust forcing.
Equity in new active travel infrastructure: a spatial analysis of London’s new Low Traffic Neighbourhoods

In this article we examine equity in new active travel infrastructure in London, UK. We focus on Low Traffic Neighbourhood schemes (LTNs) introduced during Covid-19. These mainly involve ‘modal filters’ that restrict through motor traffic from residential streets. Such approaches to traffic management are traditional in the Netherlands, but relatively new in London and other global cities such as Barcelona. LTNs are often controversial, with one criticism being that they are implemented in affluent areas and hence benefit richer residents. London represents an excellent opportunity to investigate the extent to which these rapidly introduced schemes have so far been equitably distributed.We focused on LTNs introduced between March and September 2020 and still present at the end of October 2020. Having generated datasets representing these new LTN locations and their boundary roads, we matched these to Output Areas (OAs, administrative areas containing around 300 residents). We then examined the extent to which LTN implementation was associated with age, ethnicity, disability, employment and car ownership (Census 2011) and small-area deprivation (Index of Multiple Deprivation 2019). We estimated that 3.7% of all Londoners live inside a new LTN, and 8.8% live within 500m walking distance of a new modal filter. Across London as a whole, people in the most deprived quarter of OAs were 2.7 times more likely to live in a new LTN, compared to Londoners in the least deprived quarter. While overall Black, Asian and Minority Ethnic (BAME) people were slightly more likely than White Londoners to live in a new LTN, this varied by ethnic group. Specifically, Black Londoners were somewhat more likely, and Asian Londoners somewhat less likely than White people to live in a new LTN. Car-free households were more likely to live in a new LTN. Within London’s districts – which lead the implementation of LTNs - there was wide variation, with people in more deprived areas and/or ethnic minorities more likely to live in an LTN in some districts, less likely in others. In the median (‘typical’) district, people in more deprived areas were more likely to live in an LTN than people in less deprived areas, suggesting that, on average, individual districts have prioritised their more deprived areas. However, in the median district, BAME residents were slightly less likely to live in an LTN than White residents. Finally, at the micro level, residents living in LTNs were demographically similar to neighbours living in OAs that touched an LTN boundary road. We conclude that LTN implementation has been broadly equitable at the city level and at the micro level, but not always at the district level. Such metrics should be used in policy and research to monitor and improve the equity of active travel interventions.