Miracle-dz/UniFAR-FTUs huggingface dataset:
Position and Stiffness Control of Musculoskeletal-Inspired Robot Arm Based on Direct Sum Decomposition

This paper presents a method for controlling the position and stiffness of a 2-DOF robot arm driven by three pairs of antagonistic actuators, which mimics the musculoskeletal system of human limbs. In this study, we propose a new method of solving the distribution problem of the musculoskeletal-inspired robot arm based on a direct sum decomposition of the actuator force space. The proposed solution allows to control the stiffness separately from the position, thus simplifying controller design. We then design a position and stiffness controller. The control law consists of a PD feedback position controller and a feedforward stiffness controller in joint space that are designed independently from each other. The proposed controller can asymptotically stabilize the equilibrium point of the closed-loop system and does not require a force sensor for stiffness control. Simulation results prove the effectiveness of the proposed solution and controller.
Low-Latitude Miocene Calcareous and Siliceous Microfossil Biostratigraphy from NW South America: Ladrilleros-Juanchaco Section, Colombian Pacific

Abstract. The Neogene sedimentary basins of the Colombian Pacific coast were formed in forearc basins associated with the uplift of the Andes. In this area, some marine sequences remain unexplored and are marked by a lack of biostratigraphic information. Additionally, available high-resolution biostratigraphic and biochronologic data from this region are limited almost exclusively to open sea research conducted by the Integrated Ocean Drilling Programs (IODP). The Ladrilleros-Juanchaco section is a continuous and well-exposed marine terrigenous sedimentary sequence with abundant Miocene microfossils. Biostratigraphic and biochronologic studies with calcareous nannofossils, planktonic foraminifera and diatoms carried out there revealed the presence of seventeen astronomically calibrated and standard calcareous microfossil biohorizons as well as two tropical diatom biozones. Such information enabled the establishment of a chronologic framework between the Base of Praeorbulina glomerosa and Catinaster coalitus Base, corresponding to 16.27 and 10.79 Ma, respectively (Burdigalian-Tortonian). The proposed biozonation favoured the observation of a high correlation between low-latitude planktonic foraminifera and calcareous nannofossil bioevents whereas diatom biozones and calcareous nannofossil biohorizons are marked by variations since the lowest occurrence of diatoms around 12.2 Ma. Furthermore, by means of interpolating age between the Sphenolithus heteromorphus Top and Fohsella praefohsi Base bioevents, the fact that the Reticulofenestra pseudoumbilicus (>7 µm) Base common took place around 13.6 Ma is interpreted and correlated with other sites, therefore revealing that it can be considered a good bioevent for the base of the Serravallian in these tropical areas.
Wi-Watch: Wi-Fi-Based Vigilant-Activity Recognition for Ship Bridge Watchkeeping Officers

To ensure the safety of marine traffic, ship watchkeeping officers must maintain a high level of vigilance during their watchkeeping period. Although advanced driving assistance systems are available that can effectively measure driver alertness and provide early warnings before any hazardous maneuvers, such systems, are primarily designed for road vehicles and are considerably different from those used when operating a marine vehicle. In this article, we propose to use fine-grained channel state information (CSI) obtained using commercial off-the-shelf wireless fidelity (Wi-Fi) to track an officer-on-watch’s vigilant activities and determine, in real time, whether the ship officer is adhering to safety guidelines. We developed a CSI path model and a 2-D multiple signal classification (MUSIC) algorithm to estimate signal-propagation path parameters, such as angle of arrival (AoA) and Doppler shift, in a low signal-to-noise ratio (SNR) ship environment. We then developed CSI-velocity and activity models based on fine-grained signal parameters, using wavelet transforms and deep learning techniques to determine bridge-officer activities. Finally, we developed a watchkeeping vigilance evaluation module to determine whether a bridge officer was complying with safe driving guidelines during their watchkeeping. Our proposed system was implemented on a commercial Wi-Fi platform, and we extensively evaluated the system on an actual passenger ship. Our proposed system achieved accuracies of 95.4% and 93.8% for tracking walking movements and recognizing careless activities, respectively.
Accurate Monocular SLAM Initialization via Structural Line Tracking

In this paper, we present a novel monocular simultaneous localization and mapping (SLAM) initialization algorithm that relies on structural features by tracking structural lines. This approach addresses the limitations of the traditional method, which can fail to account for a lack of features or their uneven distribution. Our proposed method utilizes a sliding window approach to guarantee the quality and stability of the initial pose estimation. We incorporate multiple geometric constraints, orthogonal dominant directions, and coplanar structural lines to construct an efficient pose optimization strategy. Experimental evaluations conducted on both the collected chessboard datasets and real scene datasets show that our approach provides superior results in terms of accuracy and real-time performance compared to the well-tuned baseline methods. Notably, our algorithm achieves these improvements while being computationally lightweight, without the need for matrix decomposition.
Fluvial carbon export and CO2 efflux in representative nested headwater catchments of the eastern La Plata River Basin

This study involved a baseline evaluation of fluvial carbon export and degas rates in three nested rural catchments (1 to 80 km2) in Taboão, a representative experimental catchment of the Upper Uruguay River Basin. Analyses of the carbon content in stream waters and the catchment carbon yield were based on 4‐year monthly in situ data and statistical modeling using the United States Geological Survey load estimator model. We also estimated pCO2 and degas fluxes using carbonate equilibrium and gas‐exchange formulas. Our results indicated that the water was consistently pCO2 saturated (~90% of the cases) and that the steep terrain favors high gas evasion rates. The mean calculated fluvial export was 5.4 tC·km−2·year−1 with inorganic carbon dominating (dissolved inorganic carbon:dissolved organic carbon ratio >4), and degas rates (~40 tC km−2·year−1) were nearly sevenfold higher than the downstream export. The homogeneous land use in this nested catchment system results in similar water‐quality characteristics, and therefore, export rates are expected to be closely related to the rainfall–runoff relationships at each scale. Although the sampling campaigns did not fully reproduce storm‐event conditions and related effects such as flushing or dilution of in‐stream carbon, our results indicated a potential link between dissolved inorganic carbon and slower hydrological pathways related to subsurface water storage and movement.
INFLUENCE OF MANAGEMENT ACCOUNTING PRACTICES ON MSMEs FIRMS PERFORMANCE

The motivation behind this work was to explore the management accounting practices in Small Medium Enterprices (SMEs) in Indonesia, using primary data captured across Jakarta, Bogor, Depok, Tangerang and Bekasi (Jabodetabek). The research compiled primary data using personally administered questionnaries. Using 185 completed questioneries from respondents. PLS was used to perform analysis of the research, with uniqnes of financial resources and technological literacy as moderating variables. This research indicate three interesting findings that are in line with previous researchs. The budgeting system, performance measurement system and strategic management accounting influence firm performance positively. While the technology literacy and financial resources fail to strengthen their influence towards firm performance. Costing system and decision support system do not influence firm performance, and further technology and financial resource were not able to make the influence strengthened.
Parametric Study and Optimization the Effect of TIG Welding Process Parameters on the Corrosion Resistance of 2205 DSS Weldment using Potentiodynamic Polarization Technique

The aim of this research is to analyze and optimize, using response surface methodology RSM, the effect of tungsten inert gas TIG welding parameters, namely welding current WC, welding speed WS, and N2 addition with Ar as shielding gas, on the corrosion resistance of duplex stainless steel DSS weldments. Due to the combination of alloying elements and the nearly equal amounts of austenite and ferrite phases, DSS has great mechanical characteristics and good corrosion resistance. However, most DSS applications require welding processes to join parts together; these processes affect the microstructure of DSS and lead to the formation of precipitations, resulting in poor mechanical properties and corrosion resistance. Therefore, it is necessary to investigate the effect of TIG welding process parameters on the corrosion resistance of DSS weldments. In this study, the corrosion penetration rate of all DSS weldments was determined using the potentiodynamic polarization technique. The response surface methodology was applied in order to achieve the mathematical model that describes the relationship between above mentioned welding variables and corrosion penetration rate of DSS weldment. Results showed that WC and N2 are the most important parameters that affected the corrosion penetration rate. Meanwhile, the results clarified that when increasing WC with decreasing WS, which corresponds to the highest heat input, the corrosion penetration rate increased due to the appearance of the precipitations. The same results were obtained for decreasing welding current while increasing welding speed, which corresponds to the lowest heat input due to the increase in ferrite content. On the other hand, the results also found that the addition of a small amount of N2 with Ar as shielding gas leads to a decrease in the corrosion penetration rate. However, the increase in the amount of N2 leads to an increase in the corrosion penetration rate due to the reappearance of the precipitations.
TOPOLOGY OF QUASI-PSEUDOMETRIC SPACES AND CONTINUOUS LINEAR OPERATOR ON ASYMMETRIC NORMED SPACES

In this paper, we will discuss about topological properties of quasi-pseudometric spaces and properties of linear operators in asymmetric normed spaces. The topological properties of quasi-pseudometric spaces will be given consisting of open and closed set properties in quasi-pseudometric spaces. The discussion about properties of linear operator on asymmetric normed spaces is focus on the uniform boundedness principle. The uniform boundedness theorem is proved by utilizing completeness properties and characteristic of closed sets on quasi-pseudometric spaces.
Some methodological issues in language research: Dealing with transcribed interpreted courtroom data

Transcription is a crucial tool in language research, particularly in discourse analysis, as it provides a distillation of real-time interactions. In the 21st century, researchers are increasingly interested in studying authentic data samples, such as audio-recorded court hearings, to turn evanescent speech into readable and analysable formats. However, transcription involves a complex process of theoretical or methodological issues about language, making it a rich source of examinable data. Researchers need to develop adequate methodologies to make such data available for their research endeavours. This exploratory research presents transcription as a methodology for researchers interested in language and ethnographic methods, addressing critical considerations such as the data to be transcribed, the transcriber responsible, and how to represent it. The paper explores innovations in transcription and presents the benefits and challenges of transcription as a methodology, particularly in language research.
Montelukast Sodium to Prevent and Treat Bronchopulmonary Dysplasia in Very Preterm Infants: A Quasi-Randomized Controlled Trial

Bronchopulmonary dysplasia (BPD) is the most common chronic lung disease in preterm infants and lacks effective methods for prevention and treatment. The aim of this study is to explore the efficacy and safety of montelukast in preventing or treating BPD in preterm infants. The preterm infants with BPD risk factors were divided randomly into a montelukast group and a control group. In the montelukast group, preterm infants were given 1 mg/kg of montelukast sodium daily. There was no placebo in the control group. There was no significant difference in the incidence of moderate or severe BPD between the two groups (31.8% vs. 35%). The duration of respiratory support in the montelukast group was shorter than that in the control group (36.4 ± 12.8 d vs. 43.1 ± 15.9 d, p = 0.037). The pulmonary severity score (PSS) at 21 days of life in the montelukast group was significantly lower than that in the control group (0.56 ± 0.13 vs. 0.62 ± 0.14, p = 0.048). There were no significant differences in the duration of mechanical ventilation, length of stay, hospitalization expenses, or incidence of adverse events. Although montelukast cannot alleviate the severity of BPD, it may shorten the duration of respiratory support and decrease the PSS in very preterm infants. There were no significant adverse drug events associated with montelukast treatment.
Exploring the Sensitivity of Photosynthesis and Stomatal Resistance Parameters in a Land Surface Model

AbstractLand surface models, like the Common Land Model component of the ParFlow integrated hydrologic model (PF-CLM), are used to estimate transpiration from vegetated surfaces. Transpiration rates quantify how much water moves from the subsurface through the plant and into the atmosphere. This rate is controlled by the stomatal resistance term in land surface models. The Ball–Berry stomatal resistance parameterization relies, in part, on the rate of photosynthesis, and together these equations require the specification of 20 input parameters. Here, the active subspace method is applied to 2100 year-long PF-CLM simulations, forced by atmospheric data from California, Colorado, and Oklahoma, to identify which input parameters are important and how they relate to three quantities of interest: transpiration, stomatal resistance from the sunlit portion of the canopy, and stomatal resistance from the shaded portion. The slope (mp) and intercept (bp) parameters associated with the Ball–Berry parameterization a.
Big Five Personality Prediction Based on Indonesian Tweets and Personality Test

The integration of human resources and artificial intelligence has shown a growing interest in automatically predicting personality traits, particularly in recruitment. To contribute to this field, we propose a new method to assist human resource professionals in Indonesia to identify candidates' personality traits. Biases come from personality tests due to their question format and susceptibility to manipulation on this research, we propose an approach that combines personality tests using the BFI form, which measures OCEAN personality traits, with personality trait predictions derived from Twitter data. This research aims to create a personality prediction model and system that efficiently and effectively screens candidate personality traits in human resources. This research has developed a novel model that combines personality test results with tweets personality prediction with an impressive F1-macro performance of 98%.
Temporal Shift Length and Antecedent Occurrence Likelihood Modulate Counterfactual Conditional Comprehension: Evidence from Event-Related Potentials

Counterfactual conditionals posit hypothetical scenarios in which antecedent events contradict reality. This study examined whether and how the processing difficulty of Chinese counterfactual conditionals (yaobushi, equivalent to if it had not been for in English) can be affected by the length of temporal shifts of the events across clauses and the likelihood of the antecedent occurrence. Participants read Chinese counterfactuals that contained either long (e.g., qunian-xianzai [last year-right now]) or short temporal shifts (e.g., zuotian-xianzai [yesterday-right now]) within highly likely (e.g., sign up for school activity) or less likely contexts (e.g., sign up for Arctic scientific research). ERP results revealed a significant N400 interaction between the temporal shift length and antecedent likelihood on the temporal indicators in the consequent and the sentence-ending verbs. Specifically, the less likely events elicited larger negativity than highly likely events with short temporal shifts on the temporal indicator. On the sentence-ending word, the long temporal shift elicited enlarged negativity than the short temporal shift when the antecedent was highly likely. These findings have two key implications regarding the interplay of implied causality and falsity constraints during counterfactual comprehension. First, salient falsity constraints can override effects of causal coherence on processing. Second, greater negativity for unlikely antecedents suggests that counterfactual markers concurrently activate factual and hypothetical representations.
Analysis of Crude, Diverse, and Multiple Advanced Glycation End-Product Patterns May Be Important and Beneficial

Lifestyle-related diseases (LSRDs), such as diabetes mellitus, cardiovascular disease, and nonalcoholic steatohepatitis, are a global crisis. Advanced glycation end-products (AGEs) have been extensively researched because they trigger or promote LSRDs. Recently, techniques such as fluorimetry, immunostaining, Western blotting, slot blotting, enzyme-linked immunosorbent assay, gas chromatography-mass spectrometry, matrix-assisted laser desorption-mass spectrometry (MALDI-MS), and electrospray ionization-mass spectrometry (ESI-MS) have helped prove the existence of intra/extracellular AGEs and revealed novel AGE structures and their modifications against peptide sequences. Therefore, we propose modifications to the existing categorization of AGEs, which was based on the original compounds identified by researchers in the 20th century. In this investigation, we introduce the (i) crude, (ii) diverse, and (iii) multiple AGE patterns. The crude AGE pattern is based on the fact that one type of saccharide or its metabolites or derivatives can generate various AGEs. Diverse and multiple AGE patterns were introduced based on the possibility of combining various AGE structures and proteins and were proven through mass analysis technologies such as MALDI-MS and ESI-MS. Kampo medicines are typically used to treat LSRDs. Because various compounds are contained in Kampo medicines and metabolized to exert effects on various organs or tissues, they may be suitable against various AGEs.
ENSO sentinels in the Americas' humid tropics: We need combined hydrometric and isotopic monitoring for improved El Niño and La Niña impact prediction

This Scientific Briefing presents results from a nearly 10‐year hydrometric and isotope monitoring network across north‐central Costa Rica, a region known as a headwater‐dependent system. This monitoring system has recorded different El Niño and La Niña events and the direct/indirect effects of several hurricane and tropical storm passages. Our results show that El Niño‐Southern Oscillation (ENSO) exerts a significant but predictable impact on rainfall amount anomalies, groundwater level and spring discharge, as evidenced by second‐order water isotope parameters (e.g., line conditioned‐excess or line‐conditioned (LC)‐excess). Sea surface temperature anomaly (El Niño Region 3) is correlated with a reduction in mean annual and cold front rainfall across the headwaters of north‐central Costa Rica. During El Niño conditions, rainfall is substantially reduced (up to 69.2%) during the critical cold fronts period, limiting groundwater recharge and promoting an early onset of minimum baseflow conditions (up to 5 months). In contrast, La Niña is associated with increased rainfall and groundwater recharge (up to 94.7% during active cold front periods). During La Niña, the long‐term mean spring discharge (39 Ls−1) is exceeded 63–80% of the time, whereas, during El Niño, the exceedance time ranges between 26% and 44%. The regional hydroclimatic variability is also imprinted on the hydrogen and oxygen isotopic compositions of meteoric waters. Drier conditions favoured lower LC‐excess in rainfall (−17.3‰) and spring water (−6.5‰), whereas wetter conditions resulted in greater values (rainfall = +17.5‰; spring water = +10.7‰). The lower and higher LC‐excess values in rainfall corresponded to the very strong 2014–2016 El Niño and 2018 La Niña, respectively. During the recent triple‐dip 2021–23 La Niña, LC‐excess exhibited a significant and consistently increasing trend. These findings highlight the importance of combining hydrometric, synoptic and isotopic monitoring as ENSO sentinels to advance our current understanding of ENSO impacts on hydrological systems across the humid Tropics. Such information is critical to constraining the 21st century projections of future water stress across this fragile region.
ASSESSMENT OF TIDAL ENERGY RESOURCES IN BALI STRAIT

The ocean possesses advantages as a sustainable and predictable source of energy, with tidal energy being one such marine-derived energy source. This study examines the analysis of ocean energy potential in the study location of the Bali Strait. The analysis of tidal energy potential follows the guidelines of the European Marine Energy Center (EMEC) and employs numerical modeling to identify current velocities using Delft3D. This study investigates the influence of water depth columns to determine the optimal depth for the placement of energy conversion technologies. It is found that the highest current velocities occur in the strait's narrowed section. Furthermore, from the analysis of tidal energy potential, it is determined that upper water depth columns (9 m, 19 m, and 26 m) can generate twice as much energy as the lower water depth columns (40 m and 45 m).
Measuring Quality in Two Early Childhood Education Contexts: Centre-Based Childcare and Four-Year-Old Preschool

The quality of early childhood experiences is crucial to a child’s development and educational success. Yet few early childhood education and care services in the world today offer a consistently high level of educational quality. In particular, educational quality depends on the context’s characteristics. The aim of this study was therefore to measure and compare the educational quality experienced in two distinct educational contexts, located in Quebec: early childhood centres and 4-year-old preschools. Results of the study indicate that there are very few significant differences between these two educational contexts in terms of interaction quality and pedagogical orientations quality, while variables related to structural quality vary greatly. Correlational and regression analyses carried out separately on each educational context show that few variables are predictive of interaction quality levels, suggesting that other variables, notably related to pedagogical orientations quality, would better explain variations in adult-child interactions predictive of child development. These results have implications for initial training curriculum aimed towards adults working in early childcare and for future directions in research on educational quality, including rethinking the importance of pedagogical orientations and structures in the ecosystemic model of quality.