Miracle-dz/UniFAR-FTUs huggingface dataset:
Model Predictive Control for Integrated Lateral Stability

This paper studies the design of a Model Predictive Controller (MPC) for integrated lateral stability, traction/braking control, and rollover prevention of electric vehicles intended for very high speed (VHS) racing applications. We first identify the advantages of a state-of-the-art dynamic model in that it includes rollover prevention into the MPC (a total of 8 states) and also linearizes the tire model prior to solving the MPC problem to save computation time. Then the design of a novel model predictive controller for lateral stability control is proposed aimed for achieving stable control at top speed significantly greater than typical highway speed limits. We have tested the new solution in simulation environments associated with the Indy Autonomous Challenge, where its real-world racing conditions include significant road banking angles, lateral position tracking, and a different suspension model of its Dallara Indy Lights chassis. The results are very promising with a low solver time in Python, as low as 50 Hz, and a lateral error of 30 cm at speeds of 45 m/s. Our open source code is available at: https: //github.com/jadyahya/Roll-Yaw-and-Lateral-Velocity-MPC/.
Temperature influences lipid content in the red harvester ant, Pogonomyrmex barbatus

Abstract Temperature is one of the most important environmental conditions affecting physiological processes in ectothermic organisms like ants. Yet, we often lack information on how certain physiological traits covary with temperature across time. Here, we test predictions on how one trait—lipid content—covaries with temperature using a conspicuous, ground-dwelling harvester ant. We focus on lipid content as fat bodies are metabolically active tissues that are important for storing and releasing energy in response to demand, which could be vital for survival under variable temperatures. From March to November, we extracted lipids from surface workers of 14 colonies while simultaneously recording ground temperature. We first assessed if lipid content was highest during cooler temperatures when ants were less active and less metabolically stressed. In doing so, we found that lipid content of ants declined almost 70% from cool months (November lipid content = 14.6%) to hot months (August lipid content = 4.6%). We next assessed if lipid levels from a group of ants collected at a single time point could change by placing individuals into environmental chambers set at 10, 20, and 30°C (i.e., the approximate span of average temperatures from March to November). Temperature again had a significant impact such that after 10 days, lipid content of ants in the hottest chamber (30°C) had decreased by more than 75%. While intraspecific variation in physiological traits often follows seasonal patterns, our results suggest fluctuations in temperature may account for a portion of the variance observed in traits like lipid content.
Predictors of Cardiovascular Morbidity Among Adult Hypertensive Patients: A Cross-Sectional Study from the Kingdom of Saudi Arabia

Background Hypertension is a public health issue affecting over a billion people globally. 15% of the adults in the Kingdom of Saudi Arabia (KSA) are thought to have hypertension. A large proportion of them remain undiagnosed or are sub-optimally treated. Those with inadequately treated hypertension have a high risk of life-threatening cardiovascular complications such as ischemic heart disease, left ventricular hypertrophy and heart failure. This study was undertaken to elucidate the cardiovascular morbidity seen in a sample of adult hypertensive patients in Saudi Arabia and identify key demographic and clinical factors associated with cardiovascular morbidity. Methods A multicentric cross-sectional study was conducted from November 2019 to November 2021 at three hospitals in Al-Kharj KSA. Totally, 105 adult patients with a documented history of primary hypertension for at least 5 years irrespective of treatment status presenting themselves to the study sites were included. Patients with secondary hypertension, and those without confirmed cause and duration of hypertension were excluded. Logistic regression analysis was performed to determine the factors associated with cardiovascular morbidity. Results The study included 105 participants aged 47.75±13.46 years. 50 (47.6%) were males and 62 (59%) were not Saudis. Left Ventricular Hypertrophy, 64 (61%), diastolic dysfunction, 44 (41.9%), and retinopathy, 33 (31.4%) were the most frequently observed morbidities. Participants aged over 45, those with diabetes, or those with dyslipidemia were more likely to have cardiovascular morbidities (adjusted odds ratio (AOR)): 4.01 (1.29–12.46), p = 0.016, AOR: 6.4 (1.62–25.28), p = 0.008, and AOR: 6.71 (1.46–30.83), p = 0.014, respectively. Conclusion Older age, the presence of comorbid diabetes mellitus, and dyslipidemia are associated with a higher likelihood of cardiovascular morbidity in hypertensive patients of Saudi Arabia.
Phylogeographic analysis of Siraitia grosvenorii in subtropical China provides insights into the origin of cultivated monk fruit and conservation of genetic resources

Abstract Siraitia grosvenorii, an economically important plant species with high medicinal value, is endemic to subtropical China. To determine the population structure and origin of cultivated S. grosvenorii, we examined the variation in three chloroplast DNA regions (trnR‐atpA, trnH‐psbA, trnL‐trnF) and two orthologous nuclear genes (CHS and EDL2) of S. grosvenorii in 130 wild individuals (selected from 13 wild populations across its natural distribution range) and 21 cultivated individuals using a phylogeographic approach. The results showed three distinct chloroplast lineages, which were restricted to different mountain ranges, and strong plastid phylogeographic structure. Our findings suggest that S. grosvenorii likely experienced ancient range expansion and survived in multiple refuges in subtropical China during glacial periods, resulting in population fragmentation in different mountainous areas. Our results also demonstrated that wild populations in Guilin (Guangxi, China) share the same gene pool as cultivated S. grosvenorii, suggesting that current cultivars were collected directly from local wild resources, consistent with the principles of “nearby domestication. ” The results of this study provide insights into improving the efficiency of S. grosvenorii breeding using a genetic approach and outline measures for the conservation of its genetic resources.
Improved finite-difference formulation in frequency domain for three-dimensional scattering problems

The finite-difference method in the frequency domain is a powerful tool for analyzing arbitrarily shaped transmission-line discontinuities and junctions. An improved formulation based on Maxwell's equations in integral form is presented. It corresponds to the Helmholtz equation and reduces the numerical efforts in solving the large linear equation system considerably. The method is verified by comparison to previous work on microstrip. >
Error Characteristics of Rainfall Measurements by Collocated Joss–Waldvogel Disdrometers

Abstract Error characteristics of rainfall measurements were studied using six collocated Joss–Waldvogel (JW) disdrometers that are located at NASA’s Wallops Flight Facility. The six disdrometer means of rain rate R, reflectivity Z, and differential reflectivity ZDR, for a given minute were considered as a reference. The maximum deviations of R, Z, and ZDR from the mean in a rain event were 0.6 mm h−1, 1.3 dB, and 0.05 dB, respectively. Rainfall statistics were then examined between disdrometer pairs. The root-mean-square (rms) difference of R, Z, and ZDR between paired disdrometers in a rain event were as high as 3.2 mm h−1, 3.7 dB, and 0.3 dB, respectively. The rms difference of R and ZDR were even higher when the disdrometer observations were stratified based on reflectivity intervals. The differences in disdrometer rainfall measurements have a potential impact when the disdrometers are considered as calibration tools for vertically pointing and scanning radars. The differences between the disdrometer .
Comparative Analysis of Apigenin-3 Acetate versus Apigenin and Methyl-Prednisolone in Inhibiting Proliferation and Gene Expression of Th1 Cells in Multiple Sclerosis

Objective: In spite of the advances in therapeutic modalities, morbidity, due to multiple sclerosis (MS), still remains high. Therefore, a large body of research is endeavouring to discover or develop novel therapies with improved efficacy for treating MS patients. In the present study, we examined the immunomodulatory effects of apigenin (Api) on peripheral blood mononuclear cells (PBMCs) isolated from MS patients. We also developed an acetylated form of Api (apigenin- 3-acetate) to improve In its blood-brain barrier (BBB) permeability. Additionally, we compared its anti-inflammatory properties to original Api and methyl-prednisolone-acetate (a standard therapy), as a potential option in treating MS patients. Materials and Methods: The current study was an experimental-interventional research. The half maximal inhibitory concentration (IC50) values for apigenin-3-acetate, apigenin, and methyl-prednisolone-acetate were determined in healthy volunteers’ PBMCs (n=3). Gene expressions of T-box transcription factor (TBX21 or T-bet) and IFN-γ, as well as proliferation of T cells isolated from MS patients’ PBMCs (n=5), were examined in co-cultures of apigenin-3-acetate, Api and methyl-prednisolone-acetate after 48 hours of treatment, using quantitative reverse transcription polymerase chain reaction (qRT-PCR). Results: Our findings showed that apigenin-3-acetate, apigenin, and methyl-prednisolone-acetate at concentrations of 80, 80, and 2.5 M could inhibit Th1 cell proliferation after 48 hours (P=0.001, P=0.036, and P=0.047, respectively); they also inhibited T-bet (P=0.015, P=0.019, and P=0.022) and interferon-γ (IFN-γ) gene expressions (P=0.0001). Conclusion: Our findings suggested that Api may have anti-inflammatory properties, possibly by inhibiting proliferation of IFN-producing Th1 cells. Moreover, comparative immunomodulatory effects were found for the acetylated version of apigenin-3-acetate versus Api and methyl-prednisolone-acetate.
Analysis and Research of Similarity Measures Between Vague Sets

This paper analyzed the existing five methods of similarity measures between Vague Sets, and pointed out that these measure methods couldn't describe the nature of similarity measures between Vague Sets, which led to a wrong deduction. Through calculating the minimum interval of the exact grade of similarity between two Vague Elements, a new kind of measure method was proposed that is called the minimal interval approach. It not only has much better characters and measurement effect, but offers a mathematical base for promotion of matching algorithm.
Understanding Critical Health Literacy Among Adolescents: Psychometric Properties of the CHLA Questionnaire in Lower Secondary Schools in Norway.

BACKGROUND Schools are important arenas for the promotion of critical health literacy (CHL) among adolescents. Key domains of CHL are information appraisal, understanding social determinants of health, and abilities to act on determinants of health. In this paper, we examine the psychometric properties of the Critical Health Literacy for Adolescents Questionnaire (CHLA-Q). METHODS A cross-sectional survey study was performed at 5 schools in Norway. Respondents included 522 pupils aged 13-15 years old. Confirmatory factor analysis (CFA) was conducted to examine the structural validity. Internal reliability was assessed using ordinal Cronbach's alpha. RESULTS The estimated model had acceptable closeness of fit. Five of 6 scales displayed adequate internal reliability. CONCLUSION The results indicate acceptable fit of the CHLA-Q framework and that 5 of the 6 scales are applicable to inform future research and interventions. More research is needed on measurement of the second domain of CHL.
3D Reconstruction under Varying Constraints on Camera Geometry for Robotic Naviation Scenarios

3D reconstruction is an important research area in computer vision. With the wide spectrum of camera geometry constraints, a general solution is still open. In this dissertation, the topic of 3D reconstruction is addressed under several special constraints on camera geometry, and the 3D reconstruction techniques developed under these constraints have been applied to a robotic navigation scenario. The robotic navigation problems addressed include automatic camera calibration, visual servoing for navigation control, obstacle detection, and 3D model acquisition and extension. The problem of visual servoing control is investigated under the assumption of a structured environment where parallel path boundaries exist. A visual servoing control algorithm has been developed based on geometric variables extracted from this structured environment. This algorithm has been used for both automatic camera calibration and navigation servoing control. Close to real time performance is achieved. The problem of qualitative and quantitative obstacle detection is addressed with a proposal of three algorithms. The first two are purely qualitative in the sense that they only return yes/no answers. The third is quantitative in that it recovers height information for all the points in the scene. Three different constraints on camera geometry are employed. The first algorithm assumes known relative pose between cameras; the second algorithm is based on completely unknown camera relative pose; the third algorithm assumes partial calibration. Experimental results are presented for real and simulated data, and the performance of the three algorithms under different noise levels are compared in simulation. Finally the problem of model acquisition and extension is studied by proposing a 3D reconstruction algorithm using homography mapping. It is shown that given four coplanar correspondences, 3D structures can be recovered up to two solutions and with only one uniform scale factor, which is the distance from the camera center to the 3D plane formed by the four 3D points corresponding to the given four correspondences in the two camera planes. It is also shown that this algorithm is optimal in terms of the number of minimum required correspondences and in terms of the assumption of internal calibration.
Design of Ultra-thin Direct-down LED Panel with Tapered Optical Elements Based on Taguchi Method

An ultra-thin direct-down LED panel model with tapered optical elements was proposed to cover the shortcomings of large thickness and light density of the direct-down LED panel light.The diffuse reflection backboard and the reflective cone structure in this model can increase the LED light mixing distance and improve light uniformity.Using the idea of dividing unit,a hexagonal light source is used as a unit to study in Taguchi method by designing orthogonal experimental group.With the Tracepro software simulation,the five factors influencing light uniformity and efficiency are taken into consideration,including the radius on upper and lower surfaces of the truncated cone element,thickness,height and LED spacing of the hexagonal light source.Apply ANOVA theory to analyze the impact of those factors on the quality,then optimize the structure parameters of the light.And ultimately,a directdown LED panel light with the thickness of only 15 mm,the light uniformity up to 95.3% and the lightefficiency up to 92.97%,are designed.
Domino tilings of the Aztec Diamond

Imagine you have a cutout from a piece of squared paper and a pile of dominoes, each of which can cover exactly two squares of the squared paper. How many different ways are there to cover the entire paper cutout with dominoes? One specific paper cutout can be mathematically described as the so-called Aztec Diamond, and a way to cover it with dominoes is a domino tiling. In this snapshot we revisit some of the seminal combinatorial ideas used to enumerate the number of domino tilings of the Aztec Diamond. The existing connection with the study of the so-called alternating-sign matrices is also explored.
The relationship between γ Cassiopeiae’s X-ray emission and its circumstellar environment - II. Geometry and kinematics of the disk from MIRC and VEGA instruments on the CHARA Array

Context. γ Cas is thought to be the prototype of classical Be stars and is the most studied object among this group. However, as for all Be stars, the origin and the physics of its circumstellar disk responsible for the observed near IR-excess, emission lines, and peculiar X-ray emission is still being debated. Aims: We constrain the geometry and kinematics of its circumstellar disk from the highest spatial resolution ever achieved on this star. This investigation is a part of a large multi-technique observing campaign to obtain the most complete picture of γ Cas which emphasizes the relation of the circumstellar environment to the star's X-ray flux. Methods: We present new observations in the near infrared (MIRC) and in the visible (VEGA) obtained with the CHARA interferometer. The VEGA instrument allows us to not only obtain a global disk geometry but also spectrally dispersed visibility modulus and phases within the Hα emission line, which enables us to study the kinematics within γ Cas's disk. Results: We obtain a disk extension in the nearby Hα continuum of 1.72 stellar diameter and 1.86 stellar diameter in the H band at 1.65 μm assuming a Gaussian disk model but also compatible with an elliptical ring model with a minor internal diameter of 1.38 stellar diameter in H. For the first time we demonstrate that the rotation mapped by the emission in the Hα line within the disk of γ Cas and up to 10 R⋆ is Keplerian. Conclusions: These observations have pushed the size of the disk to greater proportions. γ Cas was also confirmed to be a nearly critical rotator. The disk imaging gives neither indication of a 1-arm spiral feature nor evidence of a secondary star reinforcing the interpretation that the secondary is certainly a low-mass and low-luminosity star or a degenerate companion.
Sex-specific DNA methylation in saliva from the multi-ethnic Future of Families and Child Wellbeing Study

ABSTRACT The prevalence and severity of many diseases differs by sex, potentially due to sex-specific patterns in DNA methylation. Autosomal sex-specific differences in DNA methylation have been observed in cord blood and placental tissue but are not well studied in saliva or in diverse populations. We sought to characterize sex-specific DNA methylation on autosomal chromosomes in saliva samples from children in the Future of Families and Child Wellbeing Study, a multi-ethnic prospective birth cohort containing an oversampling of Black, Hispanic and low-income families. DNA methylation from saliva samples was analysed on 796 children (50.6% male) at both ages 9 and 15 with DNA methylation measured using the Illumina HumanMethylation 450k array. An epigenome-wide association analysis of the age 9 samples identified 8,430 sex-differentiated autosomal DNA methylation sites (P < 2.4 × 10−7), of which 76.2% had higher DNA methylation in female children. The strongest sex-difference was in the cg26921482 probe, in the AMDHD2 gene, with 30.6% higher DNA methylation in female compared to male children (P < 1 × 10−300). Treating the age 15 samples as an internal replication set, we observed highly consistent results between the ages 9 and 15 measurements, indicating stable and replicable sex-differentiation. Further, we directly compared our results to previously published DNA methylation sex differences in both cord blood and saliva and again found strong consistency. Our findings support widespread and robust sex-differential DNA methylation across age, human tissues, and populations. These findings help inform our understanding of potential biological processes contributing to sex differences in human physiology and disease.
Hyperconnectivity of Two Separate Long-Range Cholinergic Systems Contributes to the Reorganization of the Brain Functional Connectivity during Nicotine Withdrawal in Male Mice

Visual Abstract Chronic nicotine results in dependence with withdrawal symptoms on discontinuation of use, through desensitization of nicotinic acetylcholine receptors and altered cholinergic neurotransmission. Nicotine withdrawal is associated with increased whole-brain functional connectivity and decreased network modularity; however, the role of cholinergic neurons in those changes is unknown. To identify the contribution of nicotinic receptors and cholinergic regions to changes in the functional network, we analyzed the contribution of the main cholinergic regions to brain-wide activation of the immediate early-gene Fos during withdrawal in male mice and correlated these changes with the expression of nicotinic receptor mRNA throughout the brain. We show that the main functional connectivity modules included the main long-range cholinergic regions, which were highly synchronized with the rest of the brain. However, despite this hyperconnectivity, they were organized into two anticorrelated networks that were separated into basal forebrain-projecting and brainstem-thalamic-projecting cholinergic regions, validating a long-standing hypothesis of the organization of the brain cholinergic systems. Moreover, baseline (without nicotine) expression of Chrna2, Chrna3, Chrna10, and Chrnd mRNA of each brain region correlated with withdrawal-induced changes in Fos expression. Finally, by mining the Allen Brain mRNA expression database, we were able to identify 1755 gene candidates and three pathways (Sox2-Oct4-Nanog, JAK-STAT, and MeCP2-GABA) that may contribute to nicotine withdrawal-induced Fos expression. These results identify the dual contribution of the basal forebrain and brainstem-thalamic cholinergic systems to whole-brain functional connectivity during withdrawal; and identify nicotinic receptors and novel cellular pathways that may be critical for the transition to nicotine dependence.
Integrated molecular modeling and dynamics approaches revealed potential natural inhibitors of NF-κB transcription factor as breast cancer therapeutics

Abstract Breast cancer is a silent killer malady among women and a serious economic burden in health care management. A case of breast cancer is diagnosed among women every 19 s, and every 74 s, a woman dies of breast cancer somewhere in the world. Despite the pop-up of progressive research, advanced treatment approaches, and preventive measures, breast cancer remains amplifying ailment. The nuclear factor kappa B (NF-κB) is a key transcription factor that links inflammation with cancer and is demonstrated as being involved in the tumorigenesis of breast cancer. The NF-κB transcription factor family in mammals consists of five proteins; c-Rel, RelA(p65), RelB, NF-κB1(p50), and NF-κB2(p52). The antitumor effect of NF-κB has also been explored in breast cancer, however, the actual treatment for breast cancer is yet to be discovered. This study is attributed to the identification of novel drug targets against breast cancer by targeting c-Rel, RelA(p65), RelB, NF-κB1(p50), and NF-κB2(p52) proteins. To identify the putative active compounds, a structure-based 3D pharmacophore model to the protein active site cavity was generated followed by virtual screening, molecular docking, and molecular dynamics (MD) simulation. Initially, a library of 45000 compounds were docked against the target protein and five compounds namely Z56811101, Z653426226, Z1097341967, Z92743432, and Z464101066 were selected for further analysis. The relative binding affinity of Z56811101, Z653426226, Z1097341967, Z92743432, and Z464101066 with NF-κB1 (p50), NF-κB2 (p52), RelA (p65), RelB, and c-Rel proteins were −6.8, −8, −7.0, −6.9, and −7.2 kcal/mol, respectively which remained stable throughout the simulations of 200 ns. Furthermore, all of these compounds depict maximum drug-like properties. Therefore, the proposed compounds can be a potential candidate for patients with breast cancer, but, experimental validation is needed to ensure their safety. Communicated by Ramaswamy H. Sarma