Miracle-dz/UniFAR-FTUs huggingface dataset:
Robust position control of a tilt-wing quadrotor

This paper presents a robust position controller for a tilt-wing quadrotor to track desired trajectories under external wind and aerodynamic disturbances. Wind effects are modeled using Dryden model and are included in the dynamic model of the vehicle. Robust position control is achieved by introducing a disturbance observer which estimates the total disturbance acting on the system. In the design of the disturbance observer, the nonlinear terms which appear in the dynamics of the aerial vehicle are also treated as disturbances and included in the total disturbance. Utilization of the disturbance observer implies a linear model with nominal parameters. Since the resulting dynamics are linear, only PID type simple controllers are designed for position and attitude control. Simulations and experimental results show that the performance of the observer based position control system is quite satisfactory.
You and I are past our dancing days

Operating systems have grown in size and functionality. Today's many flavours of Unix provide a multi-user environment with protection, address spaces, and attempts to allocate resources fairly to users competing for them, They provide processes and threads, mechanisms for synchronization and memory sharing, blocking and nonblocking system calls, and a complex file system. Since it was first introduced, Unix has grown more then a factor twenty in size. Several operating systems now consist of a microkernel, surrounded by user-space services [Accetta et al., 1986; Mullender et al., 1990; Rozier et al., 1988]. Together they provide the functionality of the operating system. This operating system structure provides an opportunity to make operating systems even larger. The trend for operating systems to grow more and more baroque was signalled more than a decade ago [Feldman, 1980], but has continued unabated until, today, we have OSF/1, the most baroque Unix system ever. And we have Windows/NT as a demonstration that MS-DOS also needed to be replaced by something much bigger and a little better. In this position paper, I am asking what community we serve with our operating systems research. Should we continue doing this, or can we make ourselves more useful to society and industry by using our experience in operating systems in new environments. I argue that there is very little need for bigger and better operating systems; that, in fact, most cPus will never run an operating system at all; and that our experience in operating systems will be better applied to designing new generations of distributed and ubiquitous applications.
Magnetic form factor of Cu in La2CuO

The magnetic form factor for Cu in a single crystal of the antiferromagnet La/sub 2/CuO/sub 4/ has been measured using neutron diffraction. The result is consistent with the Calculation of Freeman and Watson for Cu/sup 2+/ at least up to Q = 4 A/sup -1/, although a plateau between 1 and 3 A/sup -1/ suggests a small contribution of moment at the out-of-plane oxygen sites. For larger values of Q the form factor for La/sub 2/CuO/sub 4/ drops faster than for Cu/sup 2+/. The sample ordered antiferromagnetically at T/sub N/approx. =185 K with an average ordered moment . mu. = 0.30 . mu. /sub B/ per Cu atom.
Immunomodulatory nanodiamond aggregate-based platform for the treatment of rheumatoid arthritis

Abstract We previously demonstrated that octadecylamine-functionalized nanodiamond (ND-ODA) and dexamethasone (Dex)-adsorbed ND-ODA (ND-ODA–Dex) promoted anti-inflammatory and pro-regenerative behavior in human macrophages in vitro. In this study, we performed a pilot study to investigate if these immunomodulatory effects translate when used as a treatment for rheumatoid arthritis in mice. Following local injection in limbs of mice with collagen type II-induced arthritis, microcomputed tomography showed that mice treated with a low dose of ND-ODA and ND-ODA–Dex did not experience bone loss to the levels observed in non-treated arthritic controls. A low dose of ND-ODA and ND-ODA–Dex also reduced macrophage infiltration and expression of pro-inflammatory mediators iNOS and tumor necrosis factor-α compared to the arthritic control, while a high dose of ND-ODA increased expression of these markers. Overall, these results suggest that ND-ODA may be useful as an inherently immunomodulatory platform, and support the need for an in-depth study, especially with respect to the effects of dose.
Phytotoxic and insecticidal activity of plants of family Zygophyllaceae and Euphorbiaceae.

The statistical analysis revealed that 10g and 20g extracts of all the tested plants significantly inhibited the growth of Lemna minor with significant differences. The plants means were non-significant while the interaction between extracts and plants was significant. Fagonia cretica, Peganum harmala, Tribulus terrestris, Chrozophora tinctoria and Ricinus communis caused significant growth inhibition of Lemna minor in all the dilutions. The interaction between plants and dilution was non-significant. Among the three plants extracts, Peganum harmala showed the highest insects mortality followed by Fagonia cretica at the same dose. Tribulus terrestris showed the lowest mortality of Tribolium castaneum. All the doses (5 to 20%) of the plant extracts showed significant differences of mortality of T. castaneum as compared to control. The highest dose mean (12.8%) was shown by P. harmala, while the lowest dose mean was shown by T. terrestris.
Health Risk Assessment Related to Dermal Exposure of Chlorpyrifos: A Case Study of Rice Growing Farmers in Nakhon Nayok Province, Central Thailand

ABSTRACT To date, pesticides, especially organophosphate pesticide such as chlorpyrifos, have been frequently applied to paddy fields over time to maintain product quality, protect agricultural crops from various pests, and increase yield. This study evaluates dermal exposure to chlorpyrifos in rice farmers along with providing a health risk assessment. Thirty-five rice farmers participated and completed an in-person interview, and patch technique was used to evaluate dermal exposure to chlorpyrifos. The chlorpyrifos residue was extracted from the gauze patches and quantified by gas chromatography equipped with flame photometric detector (GC-FPD). The results showed that chlorpyrifos concentrations were greater in males (526.34 ± 478.84 mg/kg) than females (500.75 ± 595.15 mg/kg). Average daily dose sampled from seven points on male and female farmers were 31.72 × 10−4, 193.32 × 10−4, 5.38 × 10−4, 190.48 × 10−4, 170.47 × 10−4, 465.91 × 10−4, and 43.04 × 10−4 mg/kg-day. The hazard quotient (HQ) at the mean and 95th percentile level was found to be greater than acceptable (HQ > 1). Rice-growing farmers in this area may be at risk for adverse health effects due to continuous dermal exposure to chlorpyrifos from their improper use of personal protective equipment (PPE).
PHA‐L analysis of projections from the supramammillary nucleus in the rat

The projections of the supramammillary nucleus (SUM) were examined in the rat by the anterograde anatomical tracer Phaseolus vulgaris leucoagglutinin (PHA‐L). The majority of labeled fibers from SUM ascended through the forebrain within the medial forebrain bundle. SUM fibers were found to terminate heavily in the hippocampal formation, specifically within the granule cell layer and immediately adjoining molecular layer of the dentate gyrus. In addition, SUM fibers were shown to distribute densely to several structures with strong connections with the hippocampus, namely, the nucleus reuniens of the thalamus, the medial and lateral septum, the entorhinal cortex, and the endopiriform nucleus.
Genetic Diversity of Cultivated Millet Varieties ( Pennisetum glaucum (l.) R. Br.) in Benin Using Microsatellite Markers (ssrs) and Impact of FarmerÃ¢ÂÂs Practices on their Genetic Structurin

Pearl millet [Pennisetum glaucum (L.) R. Br. ] is a food cereal of limited importance in Benin. The conservation and exploitation of these resources are important for the food security of the populations involved in its production. Understanding the structure of its genetic diversity and identification on a molecular basis is an important goal for the support, preservation, and success of breeding programs. In this study, 42 varieties of millet collected in four agro-ecological zones of Benin already grouped into 3 morphological classes were evaluated using 12 microsatellite markers (SSRs). The analysis of the loci revealed a high level of polymorphism (100%), which detected a relatively large number of alleles (A=52) for an average of 4.3 per locus. Means of PIC, observed heterozygosity (Ho) and gene diversity (He) are respectively 0.63, 0.58 and 0.64. Typology of varieties by the UPGMA method using the SAHN procedure and the Principal Coordinate Analysis (PCoA) based on genetic distances showed the existence of three major genetic groups. The analysis of these results shows that farmers' practices have an impact on the genetic structuring of millet in Benin
Position Control of VTOL UAVs using Inertial Vector Measurements

Abstract Existing position controllers for VTOL UAVs require measurements of the system attitude (orientation) for feedback. However, in practice the orientation cannot be measured directly; it is rather obtained through the use of an attitude observer relying on a set of inertial vector measurements. In this paper a new control strategy is proposed for VTOL-UAVs which avoids the direct measurement of the system attitude (in terms of a rotation matrix, unit-quaternion or other attitude parameterization). In the proposed controller inertial vector measurements are used instead of the system attitude. This eliminates the need for an attitude observer thereby reducing the overall complexity of implementing the closed loop system and avoiding errors that are associated with the attitude observer.
STUDY OF TUNING OF PID CONTROLLER BY USING PARTICLE SWARM OPTIMIZATION

Many areas in power systems require solving one or more nonlinear optimization problems. Particle swarm optimization (PSO), part of the swarm intelligence family, is known to effectively solve large-scale nonlinear optimization problems. This paper presents a detailed overview of the basic concepts of PSO and its variants. The proposed method utilizes the Particle Swarm Optimization (PSO) algorithm approach to generate the optimal tuning parameters. The paper deals with optimal tuning of proportional integral derivative (PID) controller for controlling the output obtained and hence to minimize the integral of absolute errors. The main objective is to obtain a stable, robust and controlled system by tuning the PID controller using Particle Swarm Optimization (PSO) algorithm. It is necessary to use PID controller to increase the stability and performance of the system. Fast tuning of optimum PID controller parameter yield high quality solution. This paper demonstrated in detail how to employ the PSO method to search efficiently the optimal PID controller parameters. The proposed approach had superior features, including easy implementation and good computational efficiency.
Automatic Selection of High Quality Parses Created By a Fully Unsupervised Parser

The average results obtained by unsupervised statistical parsers have greatly improved in the last few years, but on many specific sentences they are of rather low quality. The output of such parsers is becoming valuable for various applications, and it is radically less expensive to create than manually annotated training data. Hence, automatic selection of high quality parses created by unsupervised parsers is an important problem. In this paper we present PUPA, a POS-based Unsupervised Parse Assessment algorithm. The algorithm assesses the quality of a parse tree using POS sequence statistics collected from a batch of parsed sentences. We evaluate the algorithm by using an unsupervised POS tagger and an unsupervised parser, selecting high quality parsed sentences from English (WSJ) and German (NEGRA) corpora. We show that PUPA outperforms the leading previous parse assessment algorithm for supervised parsers, as well as a strong unsupervised baseline. Consequently, PUPA allows obtaining high quality parses without any human involvement.
BBID: the biological biochemical image database

The Biological Biochemical Image Database is a WWW accessible relational database of archived images from research articles that describe regulatory pathways of higher eukaryotes. Pathway information is annotated and can be queried in the study of complex gene expression. In this way, complex regulatory pathways can be tested empirically in an efficient manner in the context of large-scale gene-expression systems.
Use of Intensive Insulin Therapy for the Management of Glycemic Control in Hospitalized Patients: A Clinical Practice Guideline From the American College of Physicians

DESCRIPTION The American College of Physicians (ACP) developed this guideline to present the evidence for the link between the use of intensive insulin therapy to achieve different glycemic targets and health outcomes in hospitalized patients with or without diabetes mellitus. METHODS Published literature on this topic was identified by using MEDLINE and the Cochrane Library. Additional articles were obtained from systematic reviews and the reference lists of pertinent studies, reviews, and editorials, as well as by consulting experts; unpublished studies on ClinicalTrials.gov were also identified. The literature search included studies published from 1950 through March 2009. Searches were limited to English-language publications. The primary outcomes of interest were short-term mortality and hypoglycemia. This guideline grades the evidence and recommendations by using the ACP clinical practice guidelines grading system. RECOMMENDATION 1: ACP recommends not using intensive insulin therapy to strictly control blood glucose in non-surgical intensive care unit (SICU)/medical intensive care unit (MICU) patients with or without diabetes mellitus (Grade: strong recommendation, moderate-quality evidence). RECOMMENDATION 2: ACP recommends not using intensive insulin therapy to normalize blood glucose in SICU/MICU patients with or without diabetes mellitus (Grade: strong recommendation, high-quality evidence). RECOMMENDATION 3: ACP recommends a target blood glucose level of 7.8 to 11.1 mmol/L (140 to 200 mg/dL) if insulin therapy is used in SICU/MICU patients (Grade: weak recommendation, moderate-quality evidence).
Novel coupling is painless

The first report that several neurotransmitters, including γ-aminobutyric acid (GABA), decreased neuronal action potential duration in dorsal root ganglia (DRG) neurons appeared more than 35 years ago (Dunlap and Fischbach, 1978). Dunlap and Fischbach (1978) realized that the effects of GABA could not occur via the ionotropic GABA receptor—at that time the only known GABA receptor—and that the target ion channel was most likely a voltage-gated calcium (CaV) channel, rather than a NaV or KV channel. They correctly concluded that another type of GABA receptor must exist, which we now know is the G protein–coupled GABA type B (GABAB) receptor. The modulated channel was later identified as the chick homologue of the N-type Ca2+ channel CaV2.2 (α1B) (Cox and Dunlap, 1992), one of three members of the CaV2 family. GABAB receptors in human and rodent sensory neurons and in various expression systems were shown subsequently to inhibit native N-current and recombinant CaV2.2 current, respectively (Raingo et al., 2007; Callaghan et al., 2008; Adams and Berecki, 2013). Inhibition primarily occurs by a voltage-dependent mechanism common to various neurotransmitters whereby Gβγ binds to CaV2.2 slowing channel opening, whereas positive voltage steps relieve this inhibition (Marchetti et al., 1986). The closely related P/Q-type (α1A) channel, CaV2.1, exhibits similar modulation by GABA (Mintz and Bean, 1993). The third member of the CaV2 family, CaV2.3 (α1E), is less susceptible to direct Gβγ modulation than the other two family members (Shekter et al., 1997). The revelation that mice with a deletion in either CaV2.2 or in CaV2.3 exhibited reduced neuropathic pain–like behavior, indicating that these channels participate in pain sensation signaling (Saegusa et al., 2000, 2001), sparked great interest in the regulation of CaV2 inhibition by GABAB receptors in DRG neurons. Astonishingly, however, the precise mechanism of GABAB receptor modulation of CaV2.3 channels has remained ill defined.
Response to influenza infection in mice with a targeted disruption in the interferon gamma gene

Interferon gamma (IFN-gamma) is a pleiotropic cytokine secreted by T lymphocytes and natural killer (NK) cells and has been noted to be a first line of host defense in the control of viral infections. To examine further the role of this cytokine in the control of viral infections, mice with a targeted mutation in the IFN-gamma gene were infected with influenza virus, and the in vivo antibody and cell- mediated immune response to viral infection were examined. In addition, cell lines and clones were derived from the immunized animals and the in vitro cytokine production and cytotoxic T lymphocyte (CTL) response were analyzed. The absence of IFN-gamma led to increased production of influenza-specific IgG1, IL-4, and IL-5 as compared to wild-type littermate control animals. In contrast, there was no difference noted in the development of an effective CTL response between IFN-gamma- deficient and wild-type animals. In this model of experimental influenza infection, IFN-gamma is not necessary for the development of an effective humoral or cellular immune response to challenge with this respiratory virus.
Detecting Anaphoricity and Antecedenthood for Coreference Resolution

espanolLa mayoria de sistemas de resolucion de la correferencia (CR) intentan resolver todos los candidatos a anafora comparandolos a todos los antecedentes candidatos precedentes hasta que se encuentra el correcto. En este estudio se investigan las posibilidades de identificar las anaforas y antecedentes improbables. Se evalua nuestra aproximacion con el corpus MUC-7. EnglishMost coreference resolution (CR) systems try to resolve all “candidate anaphors” by comparing them to all preceding “candidate antecedents” until the correct one is found. In this study we investigate possibilities to identify unlikely anaphors and antecedents. We evaluate our approach on the MUC-7 corpus.
The Association of Cigarette Smoking With Depression and Anxiety: A Systematic Review

Background: Many studies report a positive association between smoking and mental illness. However, the literature remains mixed regarding the direction of this association. We therefore conducted a systematic review evaluating the association of smoking and depression and/or anxiety in longitudinal studies. Methods: Studies were identified by searching PubMed, Scopus, and Web of Science and were included if they: (1) used human participants, (2) were longitudinal, (3) reported primary data, (4) had smoking as an exposure and depression and/or anxiety as an outcome, or (5) had depression and/or anxiety as the exposure and smoking as an outcome. Results: Outcomes from 148 studies were categorized into: smoking onset, smoking status, smoking heaviness, tobacco dependence, and smoking trajectory. The results for each category varied substantially, with evidence for positive associations in both directions (smoking to later mental health and mental health to later smoking) as well as null findings. Overall, nearly half the studies reported that baseline depression/anxiety was associated with some type of later smoking behavior, while over a third found evidence that a smoking exposure was associated with later depression/anxiety. However, there were few studies directly supporting a bidirectional model of smoking and anxiety, and very few studies reporting null results. Conclusions: The literature on the prospective association between smoking and depression and anxiety is inconsistent in terms of the direction of association most strongly supported. This suggests the need for future studies that employ different methodologies, such as Mendelian randomization (MR), which will allow us to draw stronger causal inferences. Implications: We systematically reviewed longitudinal studies on the association of different aspects of smoking behavior with depression and anxiety. The results varied considerably, with evidence for smoking both associated with subsequent depression and anxiety, and vice versa. Few studies supported a bidirectional relationship, or reported null results, and no clear patterns by gender, ethnicity, clinical status, length to follow-up, or diagnostic test. Suggesting that despite advantages of longitudinal studies, they cannot alone provide strong evidence of causality. Therefore, future studies investigating this association should employ different methods allowing for stronger causal inferences to be made, such as MR.
Atopic diseases in infancy. The German multicenter atopy study (MAS‐90)

Atopic diseases are complex multifactorial in origin (1). A genetic background predisposes vulnerable individuals to develop IgE-mediated reactions to environmental allergens. Since the classical work by Goner et al. (2) many studies have shown that atopic vulnerability can be recognized at birth and atopic disease predicted by family history and cord blood IgE values (3). However, the predictive value especially of cord blood IgE has been questionned recently (4-8). The rising public concern about environmental pollution and many reports of the increasing prevalence of atopic diseases in affluent societies have initiated a new series of investigations on the predictability and early prevention of atopic disorders. Effective prevention and early intervention strategies are priority research objectives. However, our knowledge about the relative contribution of genetic and environmental factors for the manifestation, seventy, duration and impact of atopic diseases is still unsatisfactory. The German Multicenter Atopy Study (MAS-90) was initiated to evaluate the predictive value of various clinical and immunological parameters as well as the significance of early environmental exposures to allergens and trigger factors for the development of atopic diseases in early childhood.
Testing On-Die Process Variation in Nanometer VLSI

Ring oscillators are not new, but the authors of this article use them in a novel, unconventional way to monitor process variation at different regions of a die in the frequency domain. Measuring the variation of each design or fabrication parameter is infeasible from a circuit designer's perspective. Therefore, we propose a methodology that approaches PV from a test perspective. This methodology advocates testing dies for process variation by monitoring parameter variations across a die and analyzing the data that the monitoring devices provide. We use ring oscillators (ROs) to map parameter variations into the frequency domain. Our use of ROs is far more rigorous than in standard practices. To keep complexity and overhead low, we neither employ analog channels nor use zero-crossing counters. Instead, we use a frequency domain analysis because it allows compacting RO signals using digital adders (thereby also reducing the number of wires), and decoupling frequencies to identify high PVs and problematic regions. Our PV test methodology includes defining the PV fault model; deciding on types, numbers, and positions of a small distributed network of frequency-sensitive sensors (RO) and designing an efficient, fully digital communication channel with sufficient bandwidth to transfer sensor information to an analysis point. With this methodology, users can trade off cost and accuracy by choosing the number or frequency of sensors and regions on the die to monitor