Miracle-dz/UniFAR-FTUs huggingface dataset:
Analysis and resolution of singularities for a 5-DOF GRYPHON manipulator

Many industrial robots have only five axes. When a manipulator is approaching a singular configuration, a certain degree of freedom will be lost such that there are no feasible solutions of the manipulator to move into this singular direction. In this paper, the singularities of a 5-DOF GRYPHON manipulator are analyzed in detail and all the corresponding singular directions in task space are clearly identified. In order to resolve this singularity problem, on approach denoted Singularity Isolation plus Compact QP (SICQP) method is proposed. The SICQP method isolates the singular directions, maintains the exactness of the achievable directions and minimizes the tracking errors in the singular directions under the condition that feasible joint solutions must be obtained. The simulation results reveal that when a manipulator is near or at the singular points, the SICQP method may minimize the tracking errors to the extent possible.
A Survey of Data Dependence Analysis Techniques for Automated Parallelization

Finding parallelism that exists in a software program depends a great deal on determining the dependencies that exist between statements that exist in that program. Instructions that are found to be independent of one another can be executed in parallel with one another with the hope of increasing the execution speed of a software program. Determining dependence relationships between statements in software programs, however, is not an easy task. There exist many different methods for determining dependence relations, filling different requirements from speed to accuracy. This paper will discuss a number of these techniques, detailing several different classes of dependence analysis techniques as well as several different techniques within these classes. Table of
Bidirectional enrichment of CityGML and Multi-View Stereo Mesh models

The use of 3D city models has increased the last decades due to the evolution of technology. Their use is related to the need for solutions on issues that correspond to the building environment. Modelling aspects, like geometric, semantic information and topology are necessary, in order to provide an integrated result of spatial analysis. The creation of a complete 3D city model that contains all the needed information for an application, is a time consuming and complex process. Furthermore, different 3D city model formats can contain different aspects of the same features. For example, a CityGML model can have the semantic information of a 3D object, while a Multi-View Stereo Mesh model can contain all the geometric and appearance information of the same 3D object. This thesis is documenting the possible enrichments that can be done bidirectionally between these two different 3D city model formats, when both exist for the same entities. Moreover, it presents the exploration of possible automated enrichment methodologies that can enrich each 3D city model automatically with information from the other one. Finally, an automatic bidirectional enrichment methodology is proposed and is implemented on a testing area, provided in the two different 3D city model formats. This method is based on distance computations between the meshes of the two 3D city models, used to match corresponding features, or part of features, in order to segment semantically the Multi-View Stereo Mesh model (roof, wall, road, terrain, uncertain) and transfer texture to the surfaces of the CityGML model that correspond with the surfaces of the Multi-View Stereo Mesh model. In addition, distance computations are performed for the validation of the absence of buildings and the shapes of the roofs in the CityGML model, with respect to the information given from the Multi-View Stereo Mesh model. After the implementation of the proposed methodology, it is found that both 3D city model formats can be used for the proposed enrichments of either 3D city model format. Future improvements are presented for the achievement of using existing information of different formats of 3D city models of the same entities, in order to supplement each 3D city model format with useful information, enhance the performance of spatial analysis and boost the evolution on the use of such models on real life applications.
Efficient algorithm and architecture for post-processor in HDTV

To display high quality images on the monitor screen in HDTV, the processed image data must be converted into a form appropriate for real-time display. This paper presents the efficient algorithm and architecture for the post-processor, which has four functions. The first function is to remove the blocking effect in HDTV images, and the second is to convert the scan formats appropriate for the display. The third function is to convert the YUV format image signals into the RGB format signals. The final function is the /spl gamma/ correction for better quality images. To reduce the memory size, the memory is partitioned into many memory banks. Also, to improve the operation speed, a pipelined parallel architecture and a memory scheduling technique are adopted. Therefore this architecture is very fast and uses small size memory banks, and this makes it possible to realize a real-time signal processor.
Programming and Realization of Serial Communication in C++Builder5 Based MSComm Control

The serial interface possesses the good qualities of connecting simply, using conveniently and data transfering credibly, so it has gained abroad appliance in realtime control system. The method of serial communication′s programming with Microsoft Communication Control in the Windows 98 platform was discussed, the approach of serial communication′s programming which was based on the technique of ActiveX in C Builder5.0 is expatiated. The method is simpleness and credibility. It can shorten programming period greatly and reduce the work of the programmer. 
Multi-User Multi-Keyword Rank Search Over Encrypted Data in Arbitrary Language

Multi-keyword rank searchable encryption (MRSE) returns the top-<inline-formula><tex-math notation="LaTeX">$k$</tex-math><alternatives><mml:math><mml:mi>k</mml:mi></mml:math><inline-graphic xlink:href="yang-ieq1-2787588.gif"/></alternatives></inline-formula> results in response to a data user's request of multi-keyword search over encrypted data, and hence provides an efficient way for preserving data privacy in cloud storage systems while without loss of data usability. Many existing MRSE systems are constructed based on an algorithm which we term as <inline-formula><tex-math notation="LaTeX">$k$</tex-math><alternatives><mml:math><mml:mi>k</mml:mi></mml:math><inline-graphic xlink:href="yang-ieq2-2787588.gif"/></alternatives></inline-formula>-nearest neighbor for searchable encryption (KNN-SE). Unfortunately, KNN-SE has a number of shortcomings, which limit its practical applications. In this paper, we propose a new MRSE system which overcomes almost all the defects of the KNN-SE based MRSE systems. Specifically, our new system does not require a predefined keyword set and supports keywords in arbitrary languages, is a multi-user system which supports flexible search authorization and time-controlled revocation, and it achieves better data privacy protection since even the cloud server is not able to tell which documents are the top-<inline-formula><tex-math notation="LaTeX">$k$</tex-math><alternatives><mml:math><mml:mi>k</mml:mi></mml:math><inline-graphic xlink:href="yang-ieq3-2787588.gif"/></alternatives></inline-formula> results returned to a data user. We also conduct extensive experiments to demonstrate the efficiency of the new system.
Neural control of the female mating decision in Drosophila melanogaster

Tiere fallen in ihrem Verhalten Entscheidungen, die sowohl von ihrem internen physiologischen Zustand als auch von den von der Aussenwelt kommenden sensorischen Informationen abhangen. Fur die meisten Arten ist die Entscheidung, ob und mit wem die Paarung vollzogen werden soll eine der wichtigsten Entscheidungen im Leben. In Drosophila beginnen die Mannchen gewohnlich mit der Balz und stellen ein aufwandiges Balzverhalten zur Schau. Es ist jedoch das Weibchen, das die endgultige Entscheidung daruber fallt, ob es zur Paarung kommt. Diese Paarungsentscheidung des Weibchens wird von ihrem physiologischen Zustand und den Signalen, die vom balzenden Mannchen ausgehen, beeinflusst. Der Balzgesang ist das vorrangige sensorische Signal, das vom Mannchen gesendet wird, um die Empfanglichkeit des Weibchens zu erhohen. In der vorliegenden Arbeit wurde experimenteller Aufbau entwickelt, der es ermoglicht, prazise die Lokomotion einer einzelnen Fliege zu messen, wahrend ein definierter auditorischer Stimulus gegeben wird. Auf diese Weise kann spezifisch die Auswirkung des Balzgesangs auf das Weibchen in Abwesenheit anderer storender, vom Mannchen ausgehender Signale untersucht werden. Weibliche Fliegen verandern ihr Lokomotionsmuster in Reaktion auf den Balzgesang auch in Abwesenheit eines Mannchens. Die Art und Weise der Veranderung hangt dabei vom Verpaarungszustand und der sexuellen Reife des Weibchens ab. Reife, unverpaarte Weibchen verlangsamen ihre Lokomotion, wenn sie den Balzgesang horen, was die Akzeptanz eines fiktiven, balzenden Mannchens nahelegt. Im Gegensatz dazu beschleunigen nicht ausgereifte unverpaarte Weibchen und bereits verpaarte Weibchen ihre Lokomotion in Reaktion auf den Balzgesang. Diese Verhaltensanderung in der Reaktion auf den Balzgesang ist vom Sex Peptide Rezeptor abhangig. Trotz der unterschiedlichen Reaktionen sind Weibchen in den verschiedenen Zustanden alle auf das konspezifische Interpulsintervall des Balzgesangs eingestimmt, was darauf schliessen lasst, dass das Erkennen des Balzgesangs als solchen weder von der sexuellen Reife noch dem Verpaarungszustand abhangt. Des weiteren konnten wir zeigen, dass fruM, die spezifisch im Mannchen auftretende Isoform von fruitless, die Reaktion des Weibchens auf den Balzgesang sowie andere, spezifisch weibliche Verhaltensmuster aufhebt. Um die neuronale Basis des weiblichen Paarungsverhaltens zu identifizieren, wurde ein neuronaler Silencing Screen mit einer Sammlung von GAL4 Linien durchgefuhrt, in dem die Empfanglichkeit des Weibchens getestet wurde. In diesem Screen wurden GAL4 Linien gefunden, fur die unverpaarte Weibchen das Verhalten verpaarter Weibchen zeigen. Die Arborisierungen der Neurone, die in diesen Linien markiert werden sowie die GRASP Signale mit den Sex Peptide sensitiven Neuronen in den Reproduktionsorganen weisen darauf hin, dass diese Neurone vermutlich Informationen uber den Verpaarungsstatus des Weibchens in zentrale Hirnstrukturen senden.
Imaging biomarkers of the tumour microenvironment to assess early response in patients treated with anti-angiogenic therapy

Background: Angiogenesis is the process by which new blood vessels develop from existing vasculature and is a critical step in all tumours to facilitate growth beyond a few millimetres. As this process is largely inactive in physiological circumstances in adults, it represents an attractive therapeutic target in oncology. Drugs that target the angiogenic process are classified as anti-angiogenic agents. The first anti-angiogenic drug to be approved by the FDA was bevacizumab; a recombinant humanized monoclonal antibody against VEGF. Randomised studies in colorectal cancer (and other solid malignancies) have reported prolonged progression free survival and overall survival for bevacizumab. However, standard radiological criteria, Response Evaluation Criteria In Solid Tumours (RECIST), although widely employed to assess response to therapy in clinical trials, are generally insensitive to the predominantly cytostatic effects of anti-angiogenic and other targeted therapies. Alternative methods of predicting or assessing early response to such agents are needed, particularly given the cost and toxicity implications of such treatments. However, biomarkers to aid selection of patients for anti-angiogenic therapies, including bevacizumab, remain elusive.Purpose: To investigate Dynamic Contrast Enhanced Magnetic Resonance Imaging (DCE-MRI), Diffusion Weighted Imaging (DWI) and circulating angiocytokines, measured using an ELISA multiplex, as prognostic markers in patients with metastatic colorectal cancer treated with bevacizumab and chemotherapy. Results: Seventy patients were treated. DCE-MRI and DWI parameters showed good reproducibility with coefficient of variation between 3.7 to 23% for parameters. The median progression free survival, the primary end point of the trial, was 9.3 months. The overall response rate was 44%. The clinical variables which were significant for progression free survival on univariate analysis were: performance status (p=0.005), CEA (p=0.04) and serum LDH (p=0.005). Biomarkers which were significant for progression free survival on univariate analysis were serum VEGF-A (p=0.02), serum HGF (p=0.005), sVEGFR-2 (p=0.02). In each case, low values of the biomarker were associated with improved outcome. Multivariate analysis identified Ktrans (p=0.015), performance status (p=0.008) and serum HGF (p=0.003) as the most significant predictors of progression free survival. A prolonged progression free survival was associated with a good ECOG performance status, high Ktrans and low serum HGF.Conclusions: Whilst these results are encouraging, future work is required to establish whether HGF and Ktrans are prognostic markers for metastatic colorectal cancer and their precise role in the prediction of patients likely to benefit from treatment with bevacizumab.
NEAR-INFRARED SPECTROSCOPY OF THE Y0 WISEP J173835.52+273258.9 AND THE Y1 WISE J035000.32–565830.2: THE IMPORTANCE OF NON-EQUILIBRIUM CHEMISTRY

We present new near-infrared spectra, obtained at Gemini Observatory, for two Y dwarfs: WISE J035000.32−565830.2 (W0350) and WISEP J173835.52+273258.9 (W1738). A FLAMINGOS-2 R = 540 spectrum was obtained for W0350, covering , and a cross-dispersed Gemini near-infrared spectrograph R = 2800 spectrum was obtained for W1738, covering 0.993–1.087 μm, 1.191–1.305 μm, 1.589–1.631 μm, and 1.985–2.175 μm, in four orders. We also present revised YJH photometry for W1738, using new NIRI Y and J imaging, and a re-analysis of the previously published NIRI H-band images. We compare these data, together with previously published data for late-T and Y dwarfs, to cloud-free models of solar metallicity, calculated both in chemical equilibrium and with disequilibrium driven by vertical transport. We find that for the Y dwarfs, the non-equilibrium models reproduce the near-infrared data better than the equilibrium models. The remaining discrepancies suggest that fine-tuning the CH4/CO and NH3/N2 balance is needed. Improved trigonometric parallaxes would improve the analysis. Despite the uncertainties and discrepancies, the models reproduce the observed near-infrared spectra well. We find that for the Y0, W1738, , and log , and for the Y1, W0350, , and log . W1738 may be metal-rich. Based on evolutionary models, these temperatures and gravities correspond to a mass range for both Y dwarfs of 3–9 Jupiter masses, with W0350 being a cooler, slightly older, version of W1738; the age of W0350 is 0.3–3 Gyr, and the age of W1738 is 0.15–1 Gyr.
Telemedicine in Chronic Disease Management

Telemedicine is a promising but unproven tool for improving the quality of chronic disease care. The aim of this research is to investigate the potential of telemedicine for the care of patients with chronic diseases in Canada. We did a systematic review and meta-analysis of telemedicine for management of diabetes. In pooled analysis, mean A1C level in the telemedicine group was significantly lower than those of patients in the usual care group (weighted mean difference (WMD) -0.49, 95% CI -0.64, -0.35, p<0.00001) with evidence of statistical heterogeneity between studies (I 2 = 65%). We also described the results of a survey that was used to demonstrate the willingness of 1849 patients to use telemedicine. The result showed that 65.1% (CI 61.4, 68.6) of Western Canadians with self-reported chronic disease are willing to use telehealth. Finally, a clinical trial proposal was presented for a study using telemedicine for management of diabetic nephropathy.
ANALYTICAL APPROXIMATION FOR FRACTIONAL ORDER LOGISTIC EQUATION

The aim of this paper is to obtain an approximate analytical solution of the fractional order logistic equation using the optimal homotopy asymptotic method (OHAM). OHAM uses optimally determined auxiliary constants to control and adjust the convergence of the series solution. We apply OHAM to the fractional order logistic equation for noninteger and integer derivatives. Additionally, we compare its performance with that of the Adams-Bashforth-Moulton method (ABFMM). AMS Subject Classification: 65L99
Contours detection in the images using energy characteristics of wavelet transform

In this article the new approach of contours detection in the images using energy characteristics of wavelet transform is proposed. This approach of contours detection with added procedure of contours intensification in the binary image, their connection and description can be considered as the base of different information systems connected with image processing and analysis. Also this approach based on image representation using energy models has its own independent meaning and can be used not only for contours detection, but for salient points detection and texture features extraction.
Development of a Common Research Model for Applied CFD Validation Studies

The development of a wing/body/nacelle/pylon/horizontal-tail configuration for a common research model is presented, with focus on the aerodynamic design of the wing. Here, a contemporary transonic supercritical wing design is developed with aerodynamic characteristics that are well behaved and of high performance for configurations with and without the nacelle/pylon group. The horizontal tail is robustly designed for dive Mach number conditions and is suitably sized for typical stability and control requirements. The fuselage is representative of a wide/body commercial transport aircraft; it includes a wing-body fairing, as well as a scrubbing seal for the horizontal tail. The nacelle is a single-cowl, high by-pass-ratio, flow-through design with an exit area sized to achieve a natural unforced mass-flow-ratio typical of commercial aircraft engines at cruise. The simplicity of this un-bifurcated nacelle geometry will facilitate grid generation efforts of subsequent CFD validation exercises. Detailed aerodynamic performance data has been generated for this model; however, this information is presented in such a manner as to not bias CFD predictions planned for the fourth AIAA CFD Drag Prediction Workshop, which incorporates this common research model into its blind test cases. The CFD results presented include wing pressure distributions with and without the nacelle/pylon, ML/D trend lines, and drag-divergence curves; the design point for the wing/body configuration is within 1% of its max-ML/D. Plans to test the common research model in the National Transonic Facility and the Ames 11-ft wind tunnels are also discussed.
High Reynolds number flow over cylinders: A Review

Flow around bluff bodies such as circular and elliptical cylinder is the fundamental fluid mechanics problem. Many engineering applications such as off shore structures, bridge piers and pipelines can be modeled as a circular cylinder but flow over complex bodies like wings, submarines, missiles, and rotor blades, in which the parameters such as axis ratio, angle of attack and initial velocity profile can influence the flow characteristics of the wake, nature of separation and forces (Drag and lift force). Such type of flow can be modeled as an elliptical cylinder. Furthermore, elliptic cylinders have the general fluid dynamic features between those of a circular cylinder and a flat plate. This article is a review of numerous analyses focused on modeling the flow over a cylinder at higher Reynolds number. This study contains more than 30 research papers on circular cylinder as well as on elliptical cylinder. Most of the scientists and researchers used CFD codes to analyze the models subjected to various conditions and compared results with measurements.
Sercon: Server Consolidation Algorithm using Live Migration of Virtual Machines for Green Computing

Abstract Virtualization technologies changed the way data centers of enterprises utilize their server resources. Instead of using dedicated servers for each type of application, virtualization allows viewing resources as a pool of unified resources, thereby reducing complexity and easing manageability. Server consolidation technique, which deals with reducing the number of servers used by consolidating applications, is one of the main applications of virtualization in data centers. The latter technique helps to use computing resources more effectively and has many benefits, such as reducing costs of power, cooling and, hence, contributes to the Green IT initiative. In a dynamic data center environment, where applications encapsulated as virtual machines are mapped to and released from the nodes frequently, reducing the number of server nodes used can be achieved by migrating applications without stopping their services, the technology known as live migration. However, live migration is a costly operation; hence, how to perform periodic server consolidation operation in a migration-aware way is a challenging task. We propose server consolidation algorithm - Sercon, which not only minimizes the overall number of used servers, but also minimizes the number of migrations. We verify the feasibility of our algorithm along with showing its scalability by conducting experiments with eight different test cases.