Miracle-dz/UniFAR-FTUs huggingface dataset:
Learning-Based Visual-Strain Fusion for Eye-in-Hand Continuum Robot Pose Estimation and Control

Image processing has significantly extended the practical value of the eye-in-hand camera, enabling and promoting its applications for quantitative measurement. However, fully vision-based pose estimation methods sometimes encounter difficulties in handling cases with deficient features. In this article, we fuse visual information with the sparse strain data collected from a single-core fiber inscribed with fiber Bragg gratings (FBGs) to facilitate continuum robot pose estimation. An improved extreme learning machine algorithm with selective training data updates is implemented to establish and refine the FBG-empowered (F-emp) pose estimator online. The integration of F-emp pose estimation can improve sensing robustness by reducing the number of times that visual tracking is lost given moving visual obstacles and varying lighting. In particular, this integration solves pose estimation failures under full occlusion of the tracked features or complete darkness. Utilizing the fused pose feedback, a hybrid controller incorporating kinematics and data-driven algorithms is proposed to accomplish fast convergence with high accuracy. The online-learning error compensator can improve the target tracking performance with a 52.3%–90.1% error reduction compared with constant-curvature model-based control, without requiring fine model-parameter tuning and prior data acquisition.
On Prior Probabilities of Rejecting Statistical Hypotheses

Because physical theories typically predict numerical values, an improvement in experimental precision reduces the tolerance range and hence increases corroborability. In most psychological research, improved power of a statistical design leads to a prior probability approaching %/_ of finding a significant difference in the theoretically predicted direction. Hence the corroboration yielded by "success" is very weak, and becomes weaker with increased precision. 'Statistical significance' plays a logical role in psychology precisely the reverse of its role in physics. This problem is worsened by certain unhealthy tendencies prevalent among psychologists, such as a premium placed on experimental "cuteness" and a free reliance upon ad hoc explanations to avoid refutation. ([1], p. 103)
Splitting monads of vector bundles.

0 — > 0P(1) -SU 40p -*-» 0P(1) — > 0. /ν>Λ We will "split this monad" by decomposing 4&p s 20p020p. Let ψ= l and VVV φ = (! = (/ l5 /2), then lt and /2 cut out a line L in P. Let G = ker(p. The mapping /l = (— /2, /i, 0, 0): 0p(— 1)— > 40F has image in G and since £ = G/(imagetp) it gives a global section s of £(1). The zero scheine X of this section has ideal sheaf given (up to a twist) by the cokernel of
Boundary element method (BEM) for charged particle optics

Boundary element method is used for the purpose of ray tracing of charged particles. The results presented here are based on a commercially available package; Lorentz, by Integrated Engineering Software; a.k. a. Enginia Research Inc. First, a brief description of different numerical methods is presented, followed by some known theoretical examples. In all cases, excellent agreement between the theoretical results and the numerical ones is observed. Several of the examples deal with the space charge issue. Child's law and Langmuir-Blodgett's are used to verify these results. Also an example, 743 Test, of launching a particle close to a field discontinuity is presented to show the power of BEM method when it comes to dealing with extreme ratios in the dimensionality (>106) within a device.
Reduction of switching current by spin transfer torque effect in perpendicular anisotropy magnetoresistive devices (invited)

Spin transfer torque-based magnetic random access memory with perpendicular magnetic anisotropy (PMA) provides better scalability and lower power consumption compared to those with in-plane anisotropy. Spin transfer torque switching in magnetoresistive spin valves with PMA is investigated. The hard layer is made of (Co/Pd) multilayer, whereas the soft layer is a lamination of (CoFe/Pd) and (Co/Pd). By the insertion of an in-plane spin polarizer adjacent to the perpendicular anisotropy free layer, thus creating a modified-dual spin valve, a significant reduction of about 40% in the current density required for spin torque transfer switching was observed. By using a spin polarized current with different pulse widths down to 10 ns, the barrier energy EB in 100-nm-diameter devices was found to be reduced from 1.1 to 0.43 eV. Besides the reduction of switching current density in a device with PMA, the new structure shows a clear increase in magnetization switching speed as revealed by micromagnetic simulation.
The Monte Carlo method for the solution of charge transport in semiconductors with applications to covalent materials

This review presents in a comprehensive and tutorial form the basic principles of the Monte Carlo method, as applied to the solution of transport problems in semiconductors. Sufficient details of a typical Monte Carlo simulation have been given to allow the interested reader to create his own Monte Carlo program, and the method has been briefly compared with alternative theoretical techniques. Applications have been limited to the case of covalent semiconductors. Particular attention has been paid to the evaluation of the integrated scattering probabilities, for which final expressions are given in a form suitable for their direct use. A collection of results obtained with Monte Carlo simulations is presented, with the aim of showing the power of the method in obtaining physical insights into the processes under investigation. Special technical aspects of the method and updated microscopic models have been treated in some appendixes.
BiOI-SnO2 Heterojunction Design to Boost Visible-Light-Driven Photocatalytic NO Purification

The efficient, stable, and selective photocatalytic conversion of nitric oxide (NO) into harmless products such as nitrate (NO3−) is greatly desired but remains an enormous challenge. In this work, a series of BiOI/SnO2 heterojunctions (denoted as X%B-S, where X% is the mass portion of BiOI compared with the mass of SnO2) were synthesized for the efficient transformation of NO into harmless NO3−. The best performance was achieved by the 30%B-S catalyst, whose NO removal efficiency was 96.3% and 47.2% higher than that of 15%B-S and 75%B-S, respectively. Moreover, 30%B-S also exhibited good stability and recyclability. This enhanced performance was mainly caused by the heterojunction structure, which facilitated charge transport and electron-hole separation. Under visible light irradiation, the electrons gathered in SnO2 transformed O2 to ·O2− and ·OH, while the holes generated in BiOI oxidized H2O to produce ·OH. The abundantly generated ·OH, ·O2−, and 1O2 species effectively converted NO to NO− and NO2−, thus promoting the oxidation of NO to NO3−. Overall, the heterojunction formation between p-type BiOI and n-type SnO2 significantly reduced the recombination of photo-induced electron-hole pairs and promoted the photocatalytic activity. This work reveals the critical role of heterojunctions during photocatalytic degradation and provides some insight into NO removal.
Camera navigation support in a virtual environment

Artiﬁcial camera navigation is the most ubiquitous and principal interaction task within a virtual environment. Eﬃcient and intuitive virtual scene navigation aﬀects other tasks completion performance. Though many scientists have elaborated invaluable navigation techniques design guidelines, it is still, especially for novice users, the really challenging and demanding process. The user interface input hardware imprecision, interface operation cognitive burden put on users and deﬁciency of direct mapping between user physical movement and virtual camera navigation evoke discrepancy between user desired and actual camera position and orientation. The provided paper concentrates on the new potential ﬁeld based camera navigation support method. Originally designed and exploited potential ﬁelds support not only collisions solving, but goal proﬁled attraction and camera manoeuvring as well. It works both in static and dynamic environments. It can be easily boosted by the GPU approach and eventually can be easily adapted for advanced or novice interface users for a miscellaneous navigation task completion.
Successful high dose antipsychotic treatment with cariprazine in patients on the schizophrenia spectrum: Real-world evidence from a Spanish hospital setting

Real-world evidence fills in an important gap by providing data on the effectiveness and tolerability of new medications in everyday patients. In this data collection form a Spanish hospital, the effectiveness and tolerability of cariprazine were evaluated in 14 patients who were admitted to the hospital due to an acute episode of schizophrenia or schizoaffective disorder. The collected data included demographic characteristics, history of disorder and previous treatment, and details of cariprazine therapy such as dosing, side effects and measurements of effectiveness via scales. Difference between admission and discharge on the Brief Psychiatric Rating Scale (BPRS) and Clinical Global Impression-Severity (CGI-S) scale scores were evaluated using the Wilcoxon Signed-Rank test. Significant improvement was detected in nearly all patients (one patient dropped out) as measured by the BPRS Total, Negative symptom, Positive symptom, and Hostility scores. At admission, patients were markedly-moderately ill and at discharge the severity was reduced to borderline ill and normal according to the CGI-S. The CGI-Improvement scale also indicated very much and much improvement at discharge. Importantly, patients left the hospital with high doses of cariprazine, i.e., 7.5 mg/day or even 9.0 mg/day, but this did not cause safety problems; cariprazine well-tolerated as only a few patients experienced side effects such as akathisia. The results provide novel evidence regarding the tolerability and effectiveness of cariprazine in high doses patients on the schizophrenia spectrum.
Wheat quality: A review on chemical composition, nutritional attributes, grain anatomy, types, classification, and function of seed storage proteins in bread making quality

Wheat (Triticum aestivum L.) belonging to one of the most diverse and substantial families, Poaceae, is the principal cereal crop for the majority of the world’s population. This cereal is polyploidy in nature and domestically grown worldwide. Wheat is the source of approximately half of the food calories consumed worldwide and is rich in proteins (gluten), minerals (Cu, Mg, Zn, P, and Fe), vitamins (B-group and E), riboflavin, niacin, thiamine, and dietary fiber. Wheat seed-storage proteins represent an important source of food and energy and play a major role in the determination of bread-making quality. The two groups of wheat grain proteins, i.e., gliadins and glutenins, have been widely studied using SDS-PAGE and other techniques. Sustainable production with little input of chemicals along with high nutritional quality for its precise ultimate uses in the human diet are major focus areas for wheat improvement. An expansion in the hereditary base of wheat varieties must be considered in the wheat breeding program. It may be accomplished in several ways, such as the use of plant genetic resources, comprising wild relatives and landraces, germplasm-assisted breeding through advanced genomic tools, and the application of modern methods, such as genome editing. In this review, we critically focus on phytochemical composition, reproduction growth, types, quality, seed storage protein, and recent challenges in wheat breeding and discuss possible ways forward to combat those issues.
Development and cytological characterization of wheat–Thinopyrum intermedium translocation lines with novel stripe rust resistance gene

Wheat stripe rust is a destructive disease in many cool and temperate regions around the world. Exploiting novel sources of resistance can provide wheat cultivars with robust and durable resistance to stripe rust. The wheat–Thinopyrum intermedium addition line TAI-14 was proven to carry a stripe rust resistance gene (named as YrT14) on the alien Th. intermedium chromosome. In order to transfer the resistance gene to wheat, wheat–Th. intermedium translocation lines were created by irradiating the pollen of the line TAI-14. We totally obtained 153 wheat–Th. intermedium translocation lines, among which the long alien segmental translocation line Zhongke 78 and the intercalary translocation line Zhongke 15 not only showed good integrated agronomic traits but also were identified as highly resistant to stripe rust in both seedling and adult plant stages. The alien chromatin in Zhongke 15 was identified as an insertion into the satellite of chromosome 6B, a type of translocation never reported before in chromosome engineering. By screening Simple Sequence Repeat (SSR) and Expressed Sequence Tag (EST) markers as well as the markers developed from RNA-sequencing (RNA-Seq) data, 14 markers were identified specific for the alien chromosome and a physical map was constructed. Both Zhongke 78 and Zhongke 15 could be used as a novel source of stripe rust resistance for wheat breeding, and the linked marker T14K50 can be used for molecular marker–assisted breeding. Finally, based on the karyotype, reaction to stripe rust, and genome resequencing data of different wheat–Th. intermedium translocation lines, the stripe rust resistance gene YrT14 was located to an 88.1 Mb interval from 636.7 to 724.8 Mb on Th. intermedium chromosome 19 corresponding to 7J or 7Js.
Description of a new species of the catfish genus Trichomycterus (Teleostei: Siluriformes: Trichomycteridae) from the rio de Contas basin, northeastern Brazil

Trichomycterus tete, new species is described from the upper rio de Contas basin, northeastern Brazil. It is the fi rst record of the genus to the Caatinga semi-arid region. The new species is distinguished from all its congeners by having a combination of eight pectoral-fin rays, the fi rst pectoral-fin ray prolonged as a fi lament, metapterygoid deeper than wide, short maxillary barbel reaching the middle of opercular patch of odontodes, narrow head (head width 68.07 – 77.5% HL), 11 dorsal-fin rays, caudal fin truncated, body slender (body depth 12.3 – 13.6% SL), shorter dorsal-fin base (dorsal-fin base length 9.5 – 11.4% SL), and an uncommon color pattern. In addition, T. tete differs from all the congeners from southeastern Brazil by having a deep area at the external edge of the hypobranchial 1.
ADSA – Association-Driven Safety Analysis to Expose Unknown Safety Issues

Autonomous systems are susceptible to unknown safety issues due to overlooked dependencies among components of the system and the entities that are part of its operating environment. The current safety analysis techniques aids in identifying known safety issues but not overlooked/unknown safety issues. To identify unknown safety issues due to problematic interactions between components, in our previous work, we proposed safety assessment for concurrent components (SACC). Despite being more effective than FMEA and goal modeling, SACC suffers from some limitations such as not considering environmental entities and their properties, and a manual process for identifying associated components for the collective analysis. For a complex system with a large number of components, such an analysis can result in overlooking safety issues. To address these limitations, in this paper, we propose an association-driven safety analysis (ADSA) approach, which is extended and built on SACC. The approach uses a property-relation (PR) table and modified association rule mining algorithm to identify components and environmental entities that need to be considered together to detect overlooked or unknown safety issues. We evaluated our approach using four robotic systems and compared with SACC and systems theoretic process analysis (STPA). Our results show that our proposed approach, in particular using behavioral dependencies, is effective at exposing unknown safety issues.
Coarsening unstructured meshes by edge contraction

A new unstructured mesh coarsening algorithm has been developed for use in conjunction with multilevel methods. The algorithm preserves geometrical and topological features of the domain, and retains a maximal independent set of interior vertices to produce good coarse mesh quality. In anisotropic meshes, vertex selection is designed to retain the structure of the anisotropic mesh while reducing cell aspect ratio. Vertices are removed incrementally by contracting edges to zero length. Each vertex is removed by contracting the edge that maximizes the minimum sine of the dihedral angles of cells affected by the edge contraction. Rarely, a vertex slated for removal from the mesh cannot be removed; the success rate for vertex removal is typically 99.9% or more.
Low voltage electron beam lithography in self‐assembled ultrathin films with the scanning tunneling microscope

With a scanning tunneling microscope (STM) operating in vacuum, we have studied the lithographic patterning of self‐assembling organosilane monolayer resist films. Where the organic group is benzyl chloride, the resist layer can be patterned with electrons down to 4 eV in energy. The patterned films have been used as templates for the electroless plating of thin Ni films. Linewidths down to ∼20 nm have been observed in scanning electron micrographs of the plated films. Still smaller features are observed in STM images of the exposed organosilane films.
A Mixed Methods Approach as a Channel to Interpret Outcomes Research and Lived Experience Enquiry of Upper Extremity Elective Surgery for Tetraplegia

Cervical spinal cord injury (SCI) causing tetraplegia is extremely disabling. In such circumstances, restoration of upper extremity (UE) function is considered the highest priority. The advent of early nerve transfer (NT) procedures, in addition to more traditional tendon transfers (TT), warranted in-depth consideration given the time-limited nature of NT procedures. Potential surgery candidates may not yet have come to terms with the permanence of their disability. A mixed methods convergent design was utilized for concurrent analysis of the Aotearoa/New Zealand upper limb registry data from the clinical assessments of all individuals considering UE surgery, regardless of their final decision. The International Classification of Functioning, Disability and Health (ICF) taxonomy guided data interpretation during the three-phased study series. It was the integration of the findings using the Stewart Model of care drawn from palliative health that enabled the interpretation of higher order messages. It is clear the clinical assessment and selection processes in use require reconsideration given the complexities individuals face following onset of SCI. We draw attention to the higher order cognitive demands placed on individuals, the requirement for SCI peer involvement in decision making and the need for acknowledgment of interdependence as a relational construct when living with tetraplegia.
Grassmann Algebraic Approach to the Neveu-Schwarz Model and Representation of Super-Möbius Algebra

On the basis of new integral representation proposed by Fairlie and Martin, we develop a manifestly super-gauge invariant formulation of the Neveu-Schwarz model. We show that the Fairlie-Martin representation is invariant under wider trafisformations (super-Mobius transformations) than the usual Mobius transformations. The corresponding algebra (super­ Mobius algebra) is a closed subalgebra of the super-gauge algebra. The operator formalism is reconstructed as a representation of the super-Mobius algebra. As a generalization of our formulation, we introduce closed-string emission vertices for the Neveu-Schwarz open-string which are manifestly covariant under the super-gauge transformations as well as the confotmal transformations. Finally we discuss briefly the general representation theory of . the s~per­ Mobius algebra. Unfortunately, the representation appeared in the Neveu-Schwarz model is essentially unique as the representation of the full super-gauge algebra. However, two types of_ the mass spectrum are possible.
MAKING E-MOBILITY SUITABLE FOR ELDERLY PEOPLE

Regular physical exercises seem to be one of most important habit for living a healthy and joyful life. No matter what the age is, physical activity offers a general framework for an improved handling of human needs, starting with the basic ones such as physiological and safety and ending with the higher one such as belonging, esteem and self-actualisation. Despite of this, the higher the age is, the lower the availability for physical exercises become. Health issues, general lack of energy or social conformism are some of the most frequent reasons for such behaviour. Moreover, these factors act like a negative feed-back mechanism conducting to chronic inactivity. That is why maintaining a high level of physical activity even at a high age become a priority. In this article we present PAT - Physical Activity Trainer, a module projected to be included in Mobile@Old - an integrated platform for assisting elderly people to maintain a healthy lifestyle in their homes. One of the primary goals is to act as non-intrusively as possible while relying on modern technologies that will insure its effectiveness. Mobile@Old will take an interdisciplinary approach making use of several novel techniques in artificial intelligence, image analysis, facial expression recognition, data fusion, knowledge extraction and agents cooperation. PAT is presented from both psychological and technological point of view. The interface between kineto-therapist and old people is based on Kinect impersonal silhouettes. Real examples of recorded exercises are also presented. Moreover, we explain the interactions amongst PAT and the other components of Mobile@Old platform.
Piezoelectric effects on the optical properties of GaN/AlxGa1−xN multiple quantum wells

Piezoelectric effects on the optical properties of GaN/AlGaN multiple quantum wells (MQWS) have been investigated by picosecond time-resolved photoluminescence (PL) measurements. For MQWS with well thickness 30 and 40 the excitonic transition peak positions at 10 K in continuous wave (CW) spectra are red-shifted with respect to the GaN epilayer by 17 meV and 57 meV, respectively. The time-resolved PL spectra of the 30 and 40 well MQWS reveal that the excitonic transition is in fact blue-shifted at early delay times due to quantum confinement of carriers. The spectral peak position shifts toward lower energies as the delay time increases and becomes red-shifted at longer delay times. We have demonstrated that the results described above is due to the presence of the piezoelectric field in the GaN wells of GaN/AlGaN MQWS subject to elastic strain together with screening of the photoexcited carriers. By comparing experimental and calculation results, we conclude that the piezoelectric field strength in GaN/Al.15G~. 85N MQWS has a lower limit value of about 560 kV/cm: The electron and hole wave function distributions have also been obtained. The implication of our findings on the practical applications of GaN based optoelectronic devices is also discussed.
Measuring individual differences in reaction norms in field and experimental studies: a power analysis of random regression models

1. Interest in measuring individual variation in reaction norms using mixed‐effects and, more specifically, random regression models have grown apace in the last few years within evolution and ecology. However, these are data hungry methods, and little effort to date has been put into understanding how much and what kind of data we need to collect in order to apply these models usefully and reliably.