Miracle-dz/UniFAR-FTUs huggingface dataset:
Attitude control of a space robot with initial angular momentum

We propose an attitude control law of a space robot with initial angular momentum. We consider a class of the 3-state and 2-input affine nonholonomic systems with a drift term as general system representation for a planar two-link space robot with initial angular momentum. We propose the coordinate and input transformation algorithm which converts an affine system with a drift term into the time-state control form, and propose a controller design method using exact linearization. An asteroid sample-return robot with nonzero initial angular momentum is considered as an example. By using the transformation algorithm. We obtain the time-state control form for the robot. The attitude controller of the robot is designed on the basis of the time-state control form, and simulation and experiment have been carried out.
LEADERSHIP BEHAVIOUR ON JOB SATISFACTION IN MALAYSIAN NATIONAL SECONDARY SCHOOLS: MOTIVATION AND HYGIENE SATISFACTION

Inter-relationship between the principal and his/her teachers is vital in ensuring the success in school performance. Principal leadership behaviour is attributed to teachers’ job satisfaction thus may directly or indirectly, influence the achievement of school when striving for a goal or vision. The present study aims to determine the influence of principals’ leadership behaviour on teachers’ job satisfaction from the perception of a group of selected secondary schools teacher. Quantitative approach was used and questionnaires were distributed to 301 teachers for data collection. Descriptive and inferential analyses were used to analyse the data collected. Two instruments were utilized namely, (1) Leadership Behaviour Questionnaire and; (2) Teacher Job Satisfaction Questionnaire. The findings indicate that there is a significant correlation between principal leadership with teacher job satisfaction. This study also reports that the supportive and achievement–oriented leadership style influence teachers’ job statisfaction and contributed it to 30.7%. Our findings indicate that supportive leadership contributed more to the teachers’ job satisfaction compared to the achievement-oriented leadership style. This study confirms the importance of leadership behaviour on teachers’ job satisfaction. Generally, supportive and achievement-oriented leadership are the primary contributors to the satisfaction of the subordinate.
Effect of external volume expansion on the survival of fat grafts

Introduction: External volume expansion (EVE) is one method, which has been utilised for increasing the survival of adipose tissue grafts. EVE releases positive pressure from the graft and also induces intense levels of edema that decreases diffusion of metabolites essential for graft survival initially. The ideal timing of external volume expansion in relation to the injection of the fat to facilitate survival is not yet clear. Aims and Objectives: This study was undertaken to evaluate and compare the efficacy of external volume expansion applied at variable time points in relation to the injection of the fat. Materials and Methods: Athymic mouse was the animal model and human lipo-aspirate mixed with PRP was used as graft. An indigenous dome shaped silicone device was fabricated to deliver a negative pressure of -30 mm of Hg. The EVE was applied at variable time intervals. At the end of 4 weeks visual, histological and radiological features of the injected fat were compared. The adipose tissue was stained with human vimentin to ascertain the origin of the retained fat. Results: All the grafts, which had EVE, had significantly better volume retention and vascularity. The groups which underwent a delayed EVE or prior expansion followed by concomitant graft injection and expansion showed the most optimal vascularity and graft retention. Conclusions: A delayed EVE or prior expansion followed by concomitant graft injection and expansion may be the most ideal combinations to optimize graft take. However, on account of the relatively small sample size, there was a limitation in drawing statistically significant conclusions for certain variables.
Prosopopeia: experiences from a pervasive Larp

Live action role playing, Larp, is a play genre that so far has received little attention from the game studies community. However, the Live action role playing community is perhaps the most interesting role play community of all in its intense focus on role-taking, improvisation, and immersion. Furthermore, Larping has been extensively used for serious purposes, both for crisis training and psychological treatment.In this paper, we focus on Pervasive Larp, Larp events that are staged in the real world and where both the people and the objects of the real world have a direct role in the game. This is a relatively novel variant of Larping, which poses higher demands on technology support than traditional Larps. We report on the experiences from designing and staging Prosopopeia, a pervasive Larp event based on an alternate reality aesthetics. In this game, every design choice was informed by the wish to keep the game as close to reality as possible. We conclude that the approach is indeed both possible and promising, and identify some suggestions for improvements.
Defining semi-public space: a case study in the gated communities of Yaşamkent, Ankara

ABSTRACT Urban space is accepted as an inextricable part of public life. It is assumed that the upper-middle class has been sequestering itself from the rest of society by living in enclosed and private spaces. This intentional disengagement from public life and public spaces has been studied by the literature on gated communities. This article operationalizes the gated community beyond the debate on social segregation and includes it in the discussion of the use, production and transformation of urban spaces along with the isolation, privatization, and idealization of a specific place. This study departs from the understanding that the gated community is simply a new form of social segregation. Instead, it acknowledges enclosed residential areas as semi-public spaces in which attributes of public and private spaces are merged.
Biogenic SOA formation through gas-phase oxidation and gas-to-particle partitioning-a comparison between process models of varying complexity

Abstract. Biogenic volatile organic compounds (BVOCs) emitted by vegetation play an important role for aerosol mass loadings since the oxidation products of these compounds can take part in the formation and growth of secondary organic aerosols (SOA). The concentrations and properties of BVOCs and their oxidation products in the atmosphere are poorly characterized, which leads to high uncertainties in modeled SOA mass and properties. In this study, the formation of SOA has been modeled along an air-mass trajectory over northern European boreal forest using two aerosol dynamics box models where the prediction of the condensable organics from the gas-phase oxidation of BVOC is handled with schemes of varying complexity. The use of box model simulations along an air-mass trajectory allows us to compare, under atmospheric relevant conditions, different model parameterizations and their effect on SOA formation. The result of the study shows that the modeled mass concentration of SOA is highly dependent on the organic oxidation scheme used to predict oxidation products. A near-explicit treatment of organic gas-phase oxidation (Master Chemical Mechanism version 3.2) was compared to oxidation schemes that use the volatility basis set (VBS) approach. The resulting SOA mass modeled with different VBS schemes varies by a factor of about 7 depending on how the first-generation oxidation products are parameterized and how they subsequently age (e.g., how fast the gas-phase oxidation products react with the OH radical, how they respond to temperature changes, and if they are allowed to fragment during the aging process). Since the VBS approach is frequently used in regional and global climate models due to its relatively simple treatment of the oxidation products compared to near-explicit oxidation schemes, a better understanding of the above-mentioned processes is needed. Based on the results of this study, fragmentation should be included in order to obtain a realistic SOA formation. Furthermore, compared to the most commonly used VBS schemes, the near-explicit method produces less – but more oxidized – SOA.
The Structure of a Cyanobacterial Sucrose-Phosphatase Reveals the Sugar Tongs That Release Free Sucrose in the Cellw⃞

Sucrose-phosphatase (SPP) catalyzes the final step in the pathway of sucrose biosynthesis in both plants and cyanobacteria, and the SPPs from these two groups of organisms are closely related. We have crystallized the enzyme from the cyanobacterium Synechocystis sp PCC 6803 and determined its crystal structure alone and in complex with various ligands. The protein consists of a core domain containing the catalytic site and a smaller cap domain that contains a glucose binding site. Two flexible hinge loops link the two domains, forming a structure that resembles a pair of sugar tongs. The glucose binding site plays a major role in determining the enzyme's remarkable substrate specificity and is also important for its inhibition by sucrose and glucose. It is proposed that the catalytic reaction is initiated by nucleophilic attack on the substrate by Asp9 and involves formation of a covalent phospho-Asp9-enzyme intermediate. From modeling based on the SPP structure, we predict that the noncatalytic SPP-like domain of the Synechocystis sucrose-phosphate synthase could bind sucrose-6F-phosphate and propose that this domain might be involved in metabolite channeling between the last two enzymes in the pathway of sucrose synthesis.
MicroRNA expression analyses in preoperative pancreatic juice samples of pancreatic ductal adenocarcinoma.

CONTEXT Cytological assessment of pancreatic juice is commonly used to diagnose pancreatic ductal adenocarcinoma; however, the sensitivity of cytological assessment has been reported to be low. MicroRNAs are small RNAs regulating various cellular processes and have recently been identified as possible markers of malignant diseases including pancreatic ductal adenocarcinoma. OBJECTIVE The purposes of this study were to prove the existence of microRNAs in pancreatic juice and to determine whether specific microRNAs in pancreatic juice could be used for detecting pancreatic ductal adenocarcinoma. METHODS Relative expression levels of microRNA-21 and microRNA-155 in formalin-fixed paraffin-embedded tissues of resected specimens (no. 13) and pancreatic juice samples collected using preoperative endoscopic retrograde cholangiopancreatography (no. 21) were quantified and their expression levels were then compared to pancreatic ductal adenocarcinoma and chronic pancreatitis. RESULTS Relative expression levels of microRNA-21 in tissue and pancreatic juice samples were significantly higher in pancreatic ductal adenocarcinoma than those in chronic pancreatitis (P=0.009 and P=0.021, respectively). The same results were obtained in the expression levels of microRNA-155 in tissue and pancreatic juice between pancreatic ductal adenocarcinoma and chronic pancreatitis (P=0.014 and P=0.021, respectively). Expression levels of microRNA-21 and microRNA-155 did not correlate with the preoperative cytological results of pancreatic juice. CONCLUSION MicroRNA-21 and microRNA-155 in pancreatic juice have the potential of becoming biomarkers for diagnosing pancreatic ductal adenocarcinoma.
Navigational Indices and Content Interlinkage on the Fly

Lecture recording provides learning material for local and distance education. The TeleTeachingTool uses the most flexible screen recording technique to capture virtually any material displayed during a presentation. With its built-in annotation system teachers can add freehand notes and emphasize important parts. Unlike other screen recorders, our implementation offers slide-hosed navigation, full text search and annotated scripts, which is obtained by automated post-production. This paper presents how to achieve live access to any slide with corresponding annotations created earlier during the presentation, although annotations are not associated with slides. For this the post-processing algorithms must be adapted to work on the fly while the presentation is still in progress and an interlinkage between slides and annotations must be achieved
Dissolved Organic Carbon in Headwater Streams and Riparian Soil Organic Carbon along an Altitudinal Gradient in the Wuyi Mountains, China

Stream water dissolved organic carbon (DOC) correlates positively with soil organic carbon (SOC) in many biomes. Does this relationship hold in a small geographic region when variations of temperature, precipitation and vegetation are driven by a significant altitudinal gradient? We examined the spatial connectivity between concentrations of DOC in headwater stream and contents of riparian SOC and water-soluble soil organic carbon (WSOC), riparian soil C:N ratio, and temperature in four vegetation types along an altitudinal gradient in the Wuyi Mountains, China. Our analyses showed that annual mean concentrations of headwater stream DOC were lower in alpine meadow (AM) than in subtropical evergreen broadleaf forest (EBF), coniferous forest (CF), and subalpine dwarf forest (SDF). Headwater stream DOC concentrations were negatively correlated with riparian SOC as well as WSOC contents, and were unrelated to riparian soil C:N ratio. Our findings suggest that DOC concentrations in headwater streams are affected by different factors at regional and local scales. The dilution effect of higher precipitation and adsorption of soil DOC to higher soil clay plus silt content at higher elevation may play an important role in causing lower DOC concentrations in AM stream of the Wuyi Mountains. Our results suggest that upscaling and downscaling of the drivers of DOC export from forested watersheds when exploring the response of carbon flux to climatic change or other drivers must done with caution.
Real-time slam based on Hybrid Odometry and LDPDs (Local differential Probability Distances)

This paper presents a new type of SLAM for indoor and outdoor environments. This method solves only the simplest localization problem, position tracking, and does not use the mapping information in localization. The proposed SLAM uses Hybrid Odometry for the localization. Mapping is based on LDPDs (Local differential Probability Distances) and accumulated 3D dense frames.
LibSift: Automated Detection of Third-Party Libraries in Android Applications

Android applications typically contain multiple third-party libraries and recent studies have shown that the presence of third-party libraries may introduce privacy risks and security threats. Furthermore, researchers have reported the importance of considering the third-party libraries for their program analysis tasks. A reason being that the presence of third-party libraries may dilute the features and affect the accuracy of their results. Existing literature typically employs a whitelist to exclude the third-party libraries from their analysis in order to achieve accurate results. However, these whitelists are generally incomplete and weak against the renaming obfuscation technique that is commonly employed in Android applications. In this paper, we propose LibSift, a tool to automatically detect third-party libraries in Android applications. LibSift detects third-party libraries based on package dependencies that are resilient to most common obfuscations. The evaluation results not only indicate that LibSift can detect third-party libraries accurately and effectively, but also show that LibSift can detect even the less popular libraries that are not detected by two of the state-of-the-art approaches.
Cost-sensitive Boosting for Concept Drift

Concept drift is a phenomenon typically experienced when data distributions change continuously over a period of time. In this paper we propose a cost-sensitive boosting approach for learning under concept drift. The proposed methodology estimates relevance costs of ‘old’ data samples w.r. t. to ‘newer’ samples and integrates it into the boosting process. We experiment this methodology on usenet1 and accelerometer based activity gesture datasets. The results demonstrate that the cost-sensitive boosting approach significantly improves classification performance over existing algorithms.
1 A Physically-based Method for 2 D and 3 D Similarity and Affine Invariant Alignments

We present a physically-based alignment method for two point sets, which are invariant to either similarity or affine transformations. Here we assume a known correspondence between the point sets. We then employ the method to align 2D face images, find a mean-face, which is an average of all the aligned faces, and transform all face images to mean-face images for statistical face recognition. After that, we employ the same method to align 3D MRI slices with a reference model to reconstruct a patient’s knee surface model for surgery assistance. Our method is relatively easy to implement, has no analytical deductions, and allows interactive visualizations of the transformation process.
A Compressed Sensing Approach to Monitor Urban Traffic with Data Aggregation in VANETs

In this paper, we study the problem of data collection for monitoring traffic condition with compressed sensing (CS) in vehicular ad-hoc networks (VANETs). Unlike the conventional approaches, which require uniform sampling of the velocities of the vehicles, we propose a scheme that combines in-network data aggregation and compressed sensing technique based on random walk for data gathering in VANETs to reduce the communication cost as much as possible. The key point is that the aggregation information about road segments are carried and forwarded by mobile vehicles so that "random walk" of the measurement is difficult. In this paper, from the perspectives of CS technique based on random walk, we propose an integral data collection method based on compressed sensing, which includes an in-network data aggregation protocol, the representation basis construction, the measurement matrix construction, and a data transmission protocol based on CS. We conducted an extensive experimental study to demonstrate the effectiveness of the proposed scheme. Simulation results show that our proposed scheme can significantly reduce communication cost, indicating that our scheme can be a more practical method for data collection of monitoring traffic condition in VANETs.
An adaptive hybrid CDN/P2P solution for Content Delivery Networks

Streaming services have grown rapidly in the last few years and providers of video on-demand, such as Netflix or YouTube, are increasing the number of users even more quickly. The majority of these companies implement their services using huge Content Delivery Networks that are as much powerful as expensive, e.g. Amazon and Akamai. In this paper we propose a hybrid CDN/P2P solution that aims at reducing the infrastructural costs exploiting local caching and P2P while guaranteeing an optimal quality of service. The proposed architecture uses a classic CDN complemented by a geographically distributed layer where P2P can be activated exploiting network, content awareness and locality. The performance of the proposed solution is evaluated by means of a prototype implementation that has been deployed using the PlanetLab network and the Amazon AWS cloud services. Our findings show that the proposed approach provides adaptive, flexible, scalable and content centric service to the end users while significantly reducing the infrastructural costs.
Identify computer generated characters by analysing facial expressions variation

Significant improvements have been recently achieved in both quality and realism of computer generated characters, which are nowadays often very difficult to be distinguished from real ones. However, generating highly realistic facial expressions is still a challenging issue, since synthetic expressions usually follow a repetitive pattern, while in natural faces the same expression is usually produced in similar but not equal ways. In this paper, we propose a method to distinguish between computer generated and natural faces based on facial expressions analysis. In particular, small variations of the facial shape models corresponding to the same expression are used as evidence of synthetic characters.
Mesencephalic basolateral domain specification is dependent on Sonic Hedgehog

In the study of central nervous system morphogenesis, the identification of new molecular markers allows us to identify domains along the antero-posterior and dorso-ventral (DV) axes. In the past years, the alar and basal plates of the midbrain have been divided into different domains. The precise location of the alar-basal boundary is still under discussion. We have identified Barhl1, Nhlh1 and Six3 as appropriate molecular markers to the adjacent domains of this transition. The description of their expression patterns and the contribution to the different mesencephalic populations corroborated their role in the specification of these domains. We studied the influence of Sonic Hedgehog on these markers and therefore on the specification of these territories. The lack of this morphogen produced severe alterations in the expression pattern of Barhl1 and Nhlh1 with consequent misspecification of the basolateral (BL) domain. Six3 expression was apparently unaffected, however its distribution changed leading to altered basal domains. In this study we confirmed the localization of the alar-basal boundary dorsal to the BL domain and demonstrated that the development of the BL domain highly depends on Shh.
Addiction, Adolescence, and Innate Immune Gene Induction

Repeated drug use/abuse amplifies psychopathology, progressively reducing frontal lobe behavioral control, and cognitive flexibility while simultaneously increasing limbic temporal lobe negative emotionality. The period of adolescence is a neurodevelopmental stage characterized by poor behavioral control as well as strong limbic reward and thrill seeking. Repeated drug abuse and/or stress during this stage increase the risk of addiction and elevate activator innate immune signaling in the brain. Nuclear factor kappa-light-chain-enhancer of activated B cells (NF-κB) is a key glial transcription factor that regulates proinflammatory chemokines, cytokines, oxidases, proteases, and other innate immune genes. Induction of innate brain immune gene expression (e.g., NF-κB) facilitates negative affect, depression-like behaviors, and inhibits hippocampal neurogenesis. In addition, innate immune gene induction alters cortical neurotransmission consistent with loss of behavioral control. Studies with anti-oxidant, anti-inflammatory, and anti-depressant drugs as well as opiate antagonists link persistent innate immune gene expression to key behavioral components of addiction, e.g., negative affect-anxiety and loss of frontal–cortical behavioral control. This review suggests that persistent and progressive changes in innate immune gene expression contribute to the development of addiction. Innate immune genes may represent a novel new target for addiction therapy.
Precisely Control Routing Convergence by Adjusting Parameters Based on Network State

A large number of technologies have proved the possibility of fast convergence. However the most difficult part is not guarantee the convergence speed but how to control it properly. In this paper, we proposed a scheme to configure parameters of routing protocol based on the real-time network state evaluation. The goal is to adjust the pace of routing convergence according to the different importance of fault network units. We attempt to adjust the pace of routing convergence based on real-time state of network. All basic functions are closely integrated with the network state. The main contribution of our work is to control the convergence speed properly, which is also the biggest difference with other survivability technologies.