Miracle-dz/UniFAR-FTUs huggingface dataset:
Integrated Indoor Positioning System of Greenhouse Robot Based on UWB/IMU/ODOM/LIDAR

Conventional mobile robots employ LIDAR for indoor global positioning and navigation, thus having strict requirements for the ground environment. Under the complicated ground conditions in the greenhouse, the accumulative error of odometer (ODOM) that arises from wheel slip is easy to occur during the long-time operation of the robot, which decreases the accuracy of robot positioning and mapping. To solve the above problem, an integrated positioning system based on UWB (ultra-wideband)/IMU (inertial measurement unit)/ODOM/LIDAR is proposed. First, UWB/IMU/ODOM is integrated by the Extended Kalman Filter (EKF) algorithm to obtain the estimated positioning information. Second, LIDAR is integrated with the established two-dimensional (2D) map by the Adaptive Monte Carlo Localization (AMCL) algorithm to achieve the global positioning of the robot. As indicated by the experiments, the integrated positioning system based on UWB/IMU/ODOM/LIDAR effectively reduced the positioning accumulative error of the robot in the greenhouse environment. At the three moving speeds, including 0.3 m/s, 0.5 m/s, and 0.7 m/s, the maximum lateral error is lower than 0.1 m, and the maximum lateral root mean square error (RMSE) reaches 0.04 m. For global positioning, the RMSEs of the x-axis direction, the y-axis direction, and the overall positioning are estimated as 0.092, 0.069, and 0.079 m, respectively, and the average positioning time of the system is obtained as 72.1 ms. This was sufficient for robot operation in greenhouse situations that need precise positioning and navigation.
Exercise in type 2 diabetes mellitus induces tissue-specific changes in fat distribution

background Ectopic fat accumulation in type 2 diabetes (T2DM) is associated with insulin resistance and increased risk for cardiovascular disease. Exercise is generally considered beneficial to reduce T2DM associated morbidity and mortality. The effects of exercise on ectopic fat accumulation in different tissues are not well known. Therefore, the present study aimed to determine effects of an exercise intervention on organ specific fat accumulation and cardiac function in T2DM. Twelve patients with T2DM were included (age 46 ± 2 years; BMI 28.7 ± 1.2 kg/m2, mean ± SEM). Patients were studied before and after a 6-month individualized exercise program. Abdominal fat, pericardial and paracardial fat volume and cardiac function were measured using magnetic resonance (MR) imaging. Myocardial, hepatic and myocellular triglyceride (TG) content were measured using proton-MR spectroscopy at 1.5 and 7 Tesla. content did not change. Therefore, the present study demonstrates tissue-specific exercise-induced changes in body fat distribution in subjects with type 2 diabetes mellitus. the present study we aimed to assess whether exercise without dietary intervention in T2DM subjects can decrease the following ectopic fat depositions: hepatic TG content, epicardial fat, paracardial fat, intramyocellular (IMCL) and myocardial triglyceride (TG) content. Because of the association of myocardial TG content with diastolic cardiac function (14-17), we additionally assessed cardiac function. single voxel MR spectroscopic data were acquired using a point resolved spectroscopy sequence. A voxel was placed in the liver and myocardial interventricular septum respectively. ECG triggering (only for myocardial spectra) and respiratory pencil beam navigator were used during acquisition (16). A water suppressed spectrum for triglyceride signal resonances and a spectrum without water suppression as internal standard were obtained. Scan parameters were: TE of 26 ms, TR of at least 3000 ms. For the water suppressed spectrum, 1024 data points were obtained, averaged over 128 acquisitions, using a 1000 Hz spectral width. For the spectrum without water suppression the only change was in TR which was set to 10000 ms and only four averages were acquired. Java-based MR user interface software (jMRUI version 2.2, Leuven, Belgium) was used for fitting of the spectra (21). The triglyceride content was calculated as (amplitude of the triglyceride signal/ amplitude of water signal) x 100. hepatic expression of de novo lipogenesis proteins, and increased hepatic malonyl CoA levels.
Research on SOH Prediction Method of New Energy Vehicle Power Battery

The battery state of health (SOH) prediction is an important part of the new energy vehicle battery management system (BMS). Accurately predicting the SOH of the lithium-ion battery is of great significance for evaluating the health of the new energy vehicle power system and the remaining service life. The existing models for estimating the SOH of lithium-ion batteries have much room for improvement in terms of prediction accuracy and applicability. This article addresses the general accuracy and generalization problems of the existing lithium battery SOH prediction models. This paper proposes a lithium battery SOH prediction model based on the Temporal Convolutional Network, and uses particle swarm algorithm to optimize the model's hyper parameters. The model has high prediction accuracy on a variety of battery datasets. Subsequently, the transfer learning method is used to transfer the Temporal Convolutional Network model to the actual working condition data set, and the training set size is effectively reduced under the condition that the model prediction accuracy remains unchanged. Combined with the wavelet decomposition method, the Temporal Convolutional Network model is improved to achieve a fast and accurate estimation of the SOH of lithium batteries with fewer cycles.
De-Prescribing Proton Pump Inhibitors in Patients With End Stage Kidney Disease: A Quality Improvement Project

Background: Proton pump inhibitors (PPIs) are widely prescribed and may be associated with harm; hypomagnesemia and reduced effectiveness of calcium carbonate phosphate binders may be important in end-stage kidney disease (ESKD). Objectives: Our objectives included (1) discontinuing PPIs and H2 blockers and (2) assessing the impact on serum magnesium and markers of mineral metabolism. Design: Prospective cohort. Setting: Satellite hemodialysis unit of a tertiary care hospital. Patients: Incident and prevalent patients with ESKD treated with hemodialysis. Measurements: We assessed the impact of stopping PPI/H2 blockers in patients who did not have an absolute indication as per guidelines in the general population; serum magnesium, calcium, and phosphate were measured before and approximately 8 weeks later. Analysis of variance (ANOVA) test and Kruskal-Wallis was used to describe the population. Wilcoxon signed rank test for the paired change scores (from pre to post) Methods: The electronic medical record (EMR) was extensively searched for absolute indications for a PPI. Results were reviewed with the primary nephrology team before approaching patients about stopping the PPI. Basic demographic information and select medications were also collected. Results: Electronic medical records were reviewed for 179 patients, 74 had a PPI or H2 antagonist or both on their medication list (43%); 23 (31%) were assessed as appropriate. After primary team and patient review, 29 patients agreed to a trial of PPI withdrawal. Fourteen patients restarted their PPI, most for gastroesophageal reflux disease. Three patients had a GI bleed, 1 fatally. Serum calcium (P = .17) and the dose of phosphate binders (P = .075) did not change but serum phosphate increased (1.55 [0.29] to 1.85 [0.34] mmol/L; P = .0005). Serum magnesium also increased (1.01 [0.16] to 1.06 [0.14] mmol/L; P = .01). Limitations: Small patient numbers and observational nature of the study does not establish causation in this population at high risk to experience a gastrointestinal bleed. Conclusions: Our results suggest that PPI deprescribing as recommended in the general population may be associated with harm in patients with ESKD and requires further study. Trial Registration: Not registered.
Metal Oxide Nanoparticles: An Effective Tool to Modify the Functional Properties of Thermally Stable Polyimide Films

A series of polyimide/metal oxide (either ZrO2 or TiO2) nanocomposite films were fabricated based on two polymer matrices. The prepared films were characterized by scanning electron microscopy (SEM), atomic force microscopy (AFM), and X-ray diffraction analysis (XRD), and their thermal and mechanical properties were investigated with the use of thermogravimetric (TGA), differential thermal analysis (DTA), and thermomechanical analysis (TMA). We have found out that functional properties of the obtained materials are determined by a number of factors, not only the type, size, surface functionality, and concentration of the nanofiller, but also the chemical structure of the matrix polyimide. We have demonstrated some trends in the thermal and mechanical behavior of the materials depending on these features. The data could be of great interest in the areas where new materials with improved functional characteristics are needed.
Using molecular and stable isotope markers to identify the main predators of Nephrops norvegicus in Mediterranean deep-water ecosystems

: To obtain a better understanding of the functioning of ecosystems and how they respond to disturbance, it is necessary to identify the relevant biotic interactions and specific trophic roles. Predation is one of the most important biotic interactions that can also define the spatial patterns of other species. Many predators are considered key species for the functioning and maintenance of ecosystems, as they play an important ecological role that can influence the dynamics at lower trophic levels. The Norway lobster Nephrops norvegicus is one of the most valued European fishing stocks. However, its value and capture have declined over the last decade. In the Atlantic Ocean, Atlantic cod Gadus morhua is the main predator of N. norvegicus . However, this species is not present in the Mediterranean Sea, and little is known about which species might prey on N. norvegicus in this area. Here, we combine 2 methodologies — genetic identification of stomach contents and stable isotope analyses — to identify, for the first time, the main predators of N. norvegicus in the Mediterranean Sea. Moreover, we have created the Predation Index, which determines the most influential predator affecting N. norvegicus population dynamics. Our results reveal that the major predators are the cephalopods Sepietta spp. and Abralia veranyi , which probably affect the early stages of N. norvegicus , followed by the elasmobranch Scyliorhi-nus canicula and the bony fishes Merluccius merluccius , Trigla lyra , and Conger conger . To evaluate possible fluctuations in the N. norvegicus population, we consider the assessment of these predator populations crucial.
Dual-Scan Photoacoustic Tomography for the Imaging of Vascular Structure on Foot

Chronic leg ulcers are affecting approximately 6.5 million Americans, and they are associated with significant mortality, reduced quality of life, and high treatment costs. Since many chronic ulcers have underlying vascular insufficiency, accurate assessment of tissue perfusion is critical to treatment planning and monitoring. This study introduces a dual-scan photoacoustic (PA) tomography (PAT) system that can simultaneously image the dorsal and plantar sides of the foot to reduce imaging time. To account for the unique shape of the foot, the system employs height-adjustable and articulating baseball stages that can scan along the foot’s contour. In vivo results from healthy volunteers demonstrate the system’s ability to acquire clear images of foot vasculature, and results from patients indicate that the system can image patients with various ulcer conditions. We also investigated various PA features and examined their correlation with the foot condition. Our preliminary results indicate that vessel sharpness, occupancy, intensity, and density could all be used to assess tissue perfusion. This research demonstrated the potential of PAT for routine clinical tissue perfusion assessment.
A study into Georgian universities’ approach to the national standards of quality for teaching and learning

ABSTRACT This paper reports on a study conducted in Georgia on the issues of the university sector to implement new strategic principles and standards devised by the National Center for Educational Quality Enhancement (NCEQE) for learning and teaching in higher education. This paper specifically considers the government’s institutional relations concerning the quality of teaching and learning. This is done by borrowing the conceptual framing of the governance relationship of Government and institution provided by Principle Agency (PA) theory. The paper presents the results of the survey and follow-up interviews and concludes that institutions differ in approach, embracing both symbolic compliance and professional pragmatism in regard to the accreditation requirements. A discussion follows, embracing a principle agency interpretation of what the results might mean in practical and policy terms for governance and the development of the sector. It is accepted that learning and teaching is a challenging space for nearly all universities across the world but the Georgia example highlights the dynamics of change within the context of a post-Soviet country and the emerging practical problems this legacy creates. The research identifies some of these tensions between national systems and institutional readiness. The paper closes by offering recommendations for improvement.
IDA-PB control with integral action of Y-connected modular multilevel converter for fractional frequency transmission application

Y-connected modular multilevel converter (Y-MMC) is a new topology of direct AC/AC power conversion, with broad application prospects in fractional-frequency transmission system. This study studies the mathematical model of Y-MMC and builds the port-controlled Hamiltonian model. Since vector control scheme can hardly ensure global stability, the interconnection and damping assignment passivity-based control (IDA-PBC) method is applied for controller design of Y-MMC. Three typical IDA-PBC strategies are then proposed, featuring the asymptotical stability of the desired equilibrium. To eliminate steady-state error, integrators are further added to the IDA-PB controller. Different from the previous research, the proposed method enables the decoupling of different-frequency components and the suppression of frequency leakage. Besides, the reactive power distribution coefficients are introduced to characterise the optimisation allocation of reactive power between arms. Finally, the effectiveness and superiority of the proposed control strategy are verified by both the simulation and experiment results.
An examination of how personal characteristics moderate the relationship between startup intent and entrepreneurship education

PurposeWhile research has identified a consistent link between startup intent and entrepreneurship education (EE) intentions, studies also indicate that many entrepreneurs lack the EE they need. However, research examining factors that explain why certain individuals with high startup intent pursue EE while others do not is rare. Given this, the purpose of this paper is to examine how individual characteristics moderate the startup intent EE intentions relationship.Design/methodology/approachSurvey data were gathered on 199 US adults. Moderators examined include attitudes toward education, perceived entrepreneurial efficacy, propensity for risk taking and the Big Five personality traits. Linear regression models were used to test each of the moderation relationships predicted.FindingsNotable findings suggest that extroversion, openness to experience, agreeableness, perceived entrepreneurial efficacy and risk propensity reduce the chances that individuals with high startup intent will pursue EE, while viewing education as instrumental enhances the relationship.Research limitations/implicationsStudy findings imply that EE programs might not be reaching critical target markets, suggest that EE programs might need to be modified to attract individuals with high startup intent and indicate that individual characteristics are key factors that determine why certain individuals with high startup intent pursue EE while others with the same desires do not pursue EE.Originality/valueThis study builds on previous work that looks at the relationship between startup intent and EE intentions by investigating how individual characteristics either amplify or diminish the relationship, increasing scholarly knowledge about why certain individuals with high startup intent pursue EE while others do not.
A Hybrid Level Set Method for the Topology Optimization of Functionally Graded Structures

This paper presents a hybrid level set method (HLSM) to design novelty functionally graded structures (FGSs) with complex macroscopic graded patterns. The hybrid level set function (HLSF) is constructed to parametrically model the macro unit cells by introducing the affine concept of convex optimization theory. The global weight coefficients on macro unit cell nodes and the local weight coefficients within the macro unit cell are defined as master and slave design variables, respectively. The local design variables are interpolated by the global design variables to guarantee the C0 continuity of neighboring unit cells. A HLSM-based topology optimization model for the FGSs is established to maximize structural stiffness. The optimization model is solved by the optimality criteria (OC) algorithm. Two typical FGSs design problems are investigated, including thin-walled stiffened structures (TWSSs) and functionally graded cellular structures (FGCSs). In addition, additively manufactured FGCSs with different core layers are tested for bending performance. Numerical examples show that the HLSM is effective for designing FGSs like TWSSs and FGCSs. The bending tests prove that FGSs designed using HLSM are have a high performance.
Welfare Indicators in Tilapia: An Epidemiological Approach

Interest and concern about rearing methods and their impact on animal welfare have increased. Production evaluation is population-based, and animal welfare analysis should be similar. In fish, the most common welfare indicators are gill state, fin damage, and body condition. The objective of this study was to evaluate the feeding rate effect on the welfare indicators of Oreochromis niloticus using an epidemiological approach. Five growth stages (from 1.2 to 360 g) were studied using four feeding rates as treatments: underfeeding (80%), recommended feeding (100%), and two levels of overfeeding (120% and 140%). The evaluated welfare indicators include the presence of lesions in different body areas and fins, the decrease in body condition index, and their impact on biomass production. Incidence and relative risk were determined for each indicator. Statistically significant associations were found in the indicators of mortality, weight, body condition (K), and presence of evident damage in the caudal and anal fin in all stages. The results showed that the feed rate directly affects the welfare indicators and production. Mortality, weight reduction, K reduction, and caudal and anal fin damage incidence showed to be relevant indicators in all O. niloticus growing stages. As a result of this study, the epidemiological approach seems to be a valuable tool for production. A risk traffic light method is a proposal that could have great potential, with the suggested limits for WI's concerning the individuals present in the culture pond, allowing progressive evaluation and decision-making to correct risky situations.
Does the Hypothalamus-Pituitary-Adrenal axis play a role in the immune response to gastrointestinal nematodes?

The aim of this study was to establish a model for examining the role of the neuroendocrine system in regulating the immune response of the host to gastrointestinal nematodes. Through this model the role of the neuroendocrine system in responding to parasitism and regulating the T Helper 2 (TH2) response was investigated. Specifically, Fischer and Lewis rats were used to discover whether differing, but physiological glucocorticoid levels altered the response to parasites. In addition, a cell culture model was used to examine the interaction between parasites and dexamethasone in epithelial cell gene expression. Results showed that whilst gene expression patterns differed between the two rat strains, the key responses in the immune and gastrointestinal systems did not differ. Both rat strains mounted an effective response to parasites, blocking the lifecycle before adult, egg laying nematodes could develop. In contrast, the addition of high levels of dexamethasone in a cellculture model changed cellular gene expression responses to parasitism significantly. Results suggest that immune responses can remain effective despite marked changes in physiological glucocorticoid levels, but that artificial glucocorticoid administration can exceed a threshold above which significant immunosuppression can occur. Intriguingly, gene expression responses to parasitism were observed in brain tissues and adrenal glands providing a glimpse of the capacity for signals to be transmitted from the site of parasitism by the neuro-endocrine system. Does the Hypothalamus-Pituitary-Adrenal Axis Play a Role in the Immune Response to Gastrointestinal Nematodes? N.O. FENNER (2012) xi CHAPTER 1: Literature Review
Parental High-Fat High-Sugar Diet Intake Programming Inflammatory and Oxidative Parameters of Reproductive Health in Male Offspring

Parental nutrition can impact the health of future generations, programming the offspring for the development of diseases. The developing germ cells of the offspring could be damaged by the maternal or the paternal environment. The germ cells in development and their function could be affected by nutritional adversity and therefore, harm the health of subsequent generations. The paternal or maternal intake of high-fat diets has been shown to affect the reproductive health of male offspring, leading to imbalance in hypothalamic-pituitary-gonadal axis, testicular oxidative stress, low testosterone production, and changes in sperm count, viability, motility, and morphology. There is a need for studies that address the combined effects of diets with a high-fat and high-sugar (H) content by both progenitors on male reproduction. In this context, our study evaluated epigenetic parameters and the inflammatory response that could be associated to oxidative stress in testis and epididymis of adult offspring. 90 days-old male rats were divided according to the combination of the parental diet: CD (control paternal and maternal diet), HP (H paternal diet and control maternal diet), HM (H maternal diet and control paternal diet) and HPM (H paternal and maternal diet). We evaluated serum levels of testosterone and FSH; testicular gene expression of steroidogenic enzymes Star and Hsd17b3 and epigenetic markers Dnmt1, Dnmt3a, Dnmt3b, and Mecp2; testicular and epididymal levels of TNF-α, IL-6, IL-10, and IL-1β; testicular and epididymal activity of SOD, CAT, and GST; the oxidative markers MDA and CP; the daily sperm production, sperm transit time, and sperm morphology. Testicular epigenetic parameter, inflammatory response, oxidative balance, and daily sperm production of the offspring were affected by the maternal diet; paternal diet influenced serum testosterone levels, and lower daily sperm production was exacerbated by the interaction effect of both parental intake of high-fat high-sugar diet in the testis. There was isolated maternal and paternal effect in the antioxidant enzyme activity in the cauda epididymis, and an interaction effect of both parents in protein oxidative marker. Maternal effect could also be observed in cytokine production of cauda epididymis, and no morphological effects were observed in the sperm. The potential programming effects of isolated or combined intake of a high-fat high-sugar diet by the progenitors could be observed at a molecular level in the reproductive health of male offspring in early adulthood.