Miracle-dz/UniFAR-FTUs huggingface dataset:
End-Effector Tracking Control for Structurally Flexible Manipulators

A simple and effective feedback control strategy is presented for end-effector tracking for structurally flexible manipulators. The approach employs an augmented dynamical description in which derivatives of the control inputs are included in the state. This ensures smooth control inputs to the mainpulator joints. The feedback law is derived by considering a series of steady-state regulators for the manipulator at intermediate (nominally rigid and stationary) configurations along the desired trajectory. The performance of the control method is demonstrated using, as an example, a planar two-link manipulator system.
Exercising Power in a Prisoner's Dilemma: Transnational Collective Bargaining in an Era of Corporate Globalisation?

The extraordinary growth in foreign direct investment coupled with the widespread declination of union penetration has increasingly allowed multinationals to pit unions across borders as competitors for investment and jobs. Based on a theoretical analysis of the exercise of power in a prisoner's dilemma game, the essential conditions and incentives for cooperation among unions across borders for the purpose of collective bargaining with multinationals are identified and practical, strategic-level implications for transnational interunion partnerships are addressed.
New directions in e-learning research in health professions education: Report of two symposia

Background: The use of Computer Assisted Instruction (CAI) is rising across health professions education. Research to date is of limited use in guiding the implementation and selection of CAI innovations. Aims: In the context of two symposia, systemic reviews were discussed that evaluate literature in Internet-based learning, Virtual Patients, and animations. Each session included a debate with the goal of reaching consensus on best current practices and future research. Methods: Thematic analysis of the discussions was performed to arrange the questions by theme, eliminate redundancy, and craft them into a cohesive narrative. Results: The question analysis revealed that there are clear advantages to the use of CAI, and that established educational theories should certainly inform the future development and selection of CAI tools. Schools adopting CAI need to carefully consider the benefits, cost, available resources, and capacity for teachers and learners to accept change in their practice of education. Potential areas for future research should focus on the effectiveness of CAI instructional features, integration of e-learning into existing curricula and with other modalities like simulation, and the use of CAI in assessment of higher-level outcomes. Conclusions: There are numerous opportunities for future research and it will be important to achieve consensus on important themes.
GlbN (cyanoglobin) is a peripheral membrane protein that is restricted to certain Nostoc spp

The glbN gene of Nostoc commune UTEX 584 is juxtaposed to nifU and nifH, and it encodes a 12-kDa monomeric hemoglobin that binds oxygen with high affinity. In N. commune UTEX 584, maximum accumulation of GlbN occurred in both the heterocysts and vegetative cells of nitrogen-fixing cultures when the rate of oxygen evolution was repressed to less than 25 micromol of O2 mg of chlorophyll a(-1) h(-1). Accumulation of GlbN coincided with maximum synthesis of NifH and ferredoxin NADP+ oxidoreductase (PetH or FNR). A total of 41 strains of cyanobacteria, including 40 nitrogen fixers and representing 16 genera within all five sections of the cyanobacteria were screened for the presence of glbN or GlbN. glbN was present in five Nostoc strains in a single copy. Genomic DNAs from 11 other Nostoc and Anabaena strains, including Anabaena sp. strain PCC 7120, provided no hybridization signals with a glbN probe. A constitutively expressed, 18-kDa protein which cross-reacted strongly with GlbN antibodies was detected in four Anabaena and Nostoc strains and in Trichodesmium thiebautii. The nifU-nifH intergenic region of Nostoc sp. strain MUN 8820 was sequenced (1,229 bp) and was approximately 95% identical to the equivalent region in N. commune UTEX 584. Each strand of the DNA from the nifU-nifH intergenic regions of both strains has the potential to fold into secondary structures in which more than 50% of the bases are internally paired. Mobility shift assays confirmed that NtcA (BifA) bound a site in the nifU-glbN intergenic region of N. commune UTEX 584 approximately 100 bases upstream from the translation initiation site of glbN. This site showed extensive sequence similarity with the promoter region of glnA from Synechococcus sp. strain PCC 7942. In vivo, GlbN had a specific and prominent subcellular location around the periphery of the cytosolic face of the cell membrane, and the protein was found solely in the soluble fraction of cell extracts. Our hypothesis is that GlbN scavenges oxygen for and is a component of a membrane-associated microaerobically induced terminal cytochrome oxidase.
A low rank model based improved eye detection under spectacles

Eye detection is a primary step in many applications such as face recognition, iris recognition, driver fatigue detection, gaze tracking etc. Occlusion by spectacles, glare and secondary image formations deteriorate its performance. In this paper, we formulate the glare/reflection removal as a classification problem and employ Low rank decomposition technique to overcome these challenges. We provide an in-depth analysis by comparing various low rank decomposition formulations and propose a simple preprocessing step to improve the detection accuracy. Experimentation on CASIA NIR-VIS 2.0 facial database validates the proposed preprocessing method.
Regularities in Tokyo Stock Exchange Security Returns: P/E, Size, and Seasonal Influences

Regularities in risk-adjusted returns for securities listed on the Tokyo Stock Exchange (TSE) are examined in this study. A significant price-to-earnings (P/E) ratio effect is documented for the first time for a non-U.S. market, the TSE. Significant interaction between the P/E effect and the previously documented size and seasonal effects for the TSE are also documented. These results imply that studies of TSE companies must account for these return regularities and that explanations for such effects observed for U.S. and other markets that are based on some unique aspect of these markets are likely to be inadequate.
Natural selection promotes divergence of transferrin among salmonid species

Transferrin is an iron‐binding protein that plays an important role in iron metabolism and resistance to bacterial infection in a variety of organisms. A comparison of transferrin coding sequences from four salmonid species shows that the rate of evolution at nonsynonymous sites is significantly higher than the rate at synonymous sites, suggesting that positive natural selection for new alleles has played an important role in the evolution of transferrin in some salmon species. We hypothesize that the selective agent driving rapid divergence is interactions between host transferrin and the iron‐scavenging proteins of pathogenic bacteria.
Design of a Solar Power Management System for an Experimental UAV

The design of a solar power management system (SPMS) for an experimental unmanned aerial vehicle (UAV) is summarized. The system will provide power required for the on-board electronic systems on the UAV. The power management system mainly consists of the maximum power point tracking (MPPT), the battery management, and the power conversion stages. The MPPT stage attempts to obtain the maximum power available from the solar cell panels. The battery management stage monitors and controls the charge and discharge processes of the Li-ion polymer battery modules. The last stage is for power conversion that consists of dc/dc synchronous buck converters to generate +5 V and +12 V powers for the on-board computers and other electronic circuitries.
STRATEGIES OF THE UNEMPLOYED IN SOUTH AFRICA: DOES MOVING ALLOW THE UNEMPLOYED TO GET AHEAD?

This paper examines the survival strategies of the unemployed using the balanced panel of the first three waves of the National Income Dynamics Study. We find that in response to unemployment and almost no unemployment insurance, unemployed individuals look to parents, relatives and friends for economic support. They are more likely to attach themselves to household that have some income through an employed member or in receive of state support. In many cases the unemployed delay setting up their own households while others move back into family households when faced with persistent unemployment. We use a probit model to show that the unemployed who move are more likely to be employed in a successive wave. The effect of moving on employment status remains significant and positive when we take into account household and individual characteristics. Moving allows the unemployed to get ahead.
Developing Learning Organizations for Achievement of Competitive Advantages in Enterprises in Bosnia and Hercegovina

It is a common view in both theory and practice of modern management that enterprises of the 21st century must seek new sources to build and maintain competitive advantage in the dynamic and uncertain global market. In this context, individual and organizational learning are identified as significant sources of competitiveness. Consequently, the knowledge we gain from learning and its application ensures that companies differentiate from their competitors who are very hard to copy and imitate. In addition, organizational learning generates the changes in cognitive and behavioral nature, and as such, significantly increases the organization's ability to innovate and increase its adaptability in complex and unpredictable environment. The implementation of the concept of learning organization, which implies "double loop learning", i.e. changing the underlying assumptions, mental components and way of thinking is particularly important for companies that operate in the conditions of the transition period from ex-socialist economy to a new cognitive stage capitalism and new socially responsible ways of market business. Therefore, the aim of this paper is to focus not only on theoretical critical review of the concept of the learning organization, but also to shed light on the analysis of the assumptions for the implementation of this concept in the context of building a competitive advantage in Bosnian enterprises. The analysis will be based on the results of an empirical study on the degree of the implementation of learning organizations within a hundred of Bosnian enterprises, conducted back in 2012.
Medication adherence in diabetes mellitus and self management practices among type-2 diabetics in Ethiopia

Background: Type-2 diabetes mellitus and its complication are becoming more prevalent in Ethiopia. Evidence abound that the most important predictor of reduction of morbidity and mortality due to diabetes complication is the level of glycemic control achieved. Aims: The aim is to assess adherence to anti diabetic drug therapy and self management practice among type-2 diabetic patient in Ethiopia. Patients and Method: The study consists of two phases. A cross-sectional review of randomly selected 384 case notes of type-2 diabetic patient that attend diabetes mellitus clinic over 3 month and cross-sectional interview, with pre tested adherence and self management and monitoring tool questioner of 347 consecutive patients that attend in Jimma university specialized hospital diabetic clinic. Result: Oral hypoglycemic agent were prescribed for 351(91.4) of the patient while insulin and oral hypoglycemic agent was prescribed in 33(8.6%). About 312 (88.9%) patients on oral hypoglycemic agent were on mono therapy, the most frequently prescribed oral hypoglycemic agent was glibenclamide 232(74.3%) and metformine 80(25.7%). Only 41.8% of the patient had adequate glycemic control. The main external factors for non adherence were lack of finance (37.1%) followed by perceived side effect of drug 29.2%. Only 6.5% patient who missed their medications disclosed to physician during consultation. The knowledge and practice of critical component of diabetes self management behavior were generally low among the patient studied. Conclusion: Majority of the patient with type 2 diabetes in Ethiopia are managed by OHA monotherapy mainly glybenclamide and metformine. While the current prescribing strategy do not achieve glycemic control on majority of the patient. This is due to poor adherence with the prescribed drug regimen and poor knowledge and practice of successful self management.
Involvement of FtsZ in coupling of nucleoid separation with septation

The cell‐cycle parameters of an Escherichia coli strain expressing essential division gene ftsZ at one‐fifth of its normal level, because of antisense regulation by DicF RNA, have been analysed. Inhibition of FtsZ expression affects neither the generation time nor the replication initiation mass, the C period, or the constriction period, but it does dramatically retard the initiation of constriction relative to replication termination. Separation of the nucleoids is equally postponed, indicating that division is not coupled to termination of replication, but to partitioning. The severe inhibition of nucleoid separation by DicF RNA, and its suppression by overproduction of FtsZ, suggest a role for FtsZ in the control of separation, and consequently in the coupling of separation and division. We suggest that the normal pattern of nucleoid separation previously found in cells deficient in ftsZ function was a consequence of the loss of a negative effect exerted by FtsZ on separation. In agreement with this view, we find that nucleoid separation is temporarily inhibited after arrest of FtsZ synthesis, but is later resumed as FtsZ is further diluted into the elongating filaments.
Heterozygous familial hypercholesterolemia: an underrecognized cause of early cardiovascular disease

Heterozygous familial hypercholesterolemia (HeFH) is a monogenic disorder that affects about 1 in 500 people, with a higher prevalence in certain subpopulations such as people of Quebecois, Christian Lebanese and Dutch South Afrikaner extraction. HeFH is characterized by cholesterol deposits affecting the corneas, eyelids and extensor tendons; elevated plasma concentrations of low-density lipoprotein (LDL) cholesterol; and accelerated vascular disease, especially coronary artery disease (CAD). Although HeFH is genetically heterogeneous, it is most often caused by heterozygous mutations in the LDLR gene encoding the LDL receptor. We describe a man who was diagnosed with HeFH after he had a myocardial infarction at 33 years of age. By DNA sequence analysis, he was found to have a heterozygous splicing mutation in his LDLR gene. This discovery expanded the growing mutational spectrum in patients with HeFH in Ontario. Given that HeFH is a treatable cause of early vascular disease, it is important that this condition be recognized, diagnosed and treated in affected patients; but as yet, there is no consensus on the best approach. Diagnostic criteria based on family history and clinical presentation have been proposed for patients with suspected HeFH. Biochemical or molecular screening might be considered to detect new cases of HeFH in populations with a relatively high HeFH prevalence and a relatively small number of possible causative mutations. So far, however, the most cost-effective and efficient systematic strategy to detect previously undiagnosed cases of HeFH is still cascade testing: clinical and biochemical screening of close relatives of the proband patient diagnosed with HeFH. Pharmacologic treatment of HeFH is cost-effective.
An application of student learner profiling: comparison of students in different degree programs

The ability to profile students by assessing their approaches to study and conceptions of discipline is valuable for educators at all levels. Detailed analysis of these factors has been undertaken in science disciplines at the University of Sydney to (i) determine the academic profiles of students in the cohorts we teach; and (ii) determine whether our teaching practices and the learning environment we provide stimulate the development of the student profiles we regard as desirable in a science graduate and, ultimately, in the professional scientist. At tertiary level, this analysis is complicated by the various degree programs that intersect in compulsory or service units of study, particularly at the first year level, and it is therefore essential that we understand the extent to which we are serving students in all degree programs. Our first year biology classes are large (up to 1500) and the unit Concepts in Biology (semester 1) is both a pre-requisite for further study in Biology and a compulsory service course for a range of degree programs (e.g. Medical Biotechnology, Pharmacy, Nutrition). We performed a cluster analysis on survey data combining measures of student approaches to study, conceptions of biology and performance in assessment after completing one semester of biology and examined the proportions of students in each of four clusters: two ‘positive’ (deep achievers and enthusiastic achievers) and two with less desirable profiles (surface strategists and neutral). Chi-squared analysis indicated no significant difference in distribution of students enrolled in Arts, Science and Pharmacy between the four clusters (p = 0.104). A significant difference was, however, detected at the level of science degree program (p < 0.002), with the Bachelor of Science (Marine) and Bachelor of Science contributing most to the difference. Implications of our analysis and further applications of learner profiling for informing improvements in science curricula, teaching and assessment will be discussed.
Redesigning the human resources function at Lafarge

This article describes the detailed process of redesigning and implementing the human resources (HR) function at Lafarge. The article argues that a well-articulated and integrated approach of (1) recruitment, selection, and induction, (2) retraining and redeployment, (3) a performance appraisal system, (4) a compensation and reward mechanism, and (5) rightsizing and (6) integration is required to be aligned with the overall business strategy of the organization. It also reinforces that the foundation of a value-added HR function is a business strategy that relies on people as a source of competitive advantage. Key challenges for Lafarge in the future include (1) maintaining the change momentum, (2) fast and effective integration of acquired companies and transfer of “best practices,” and (3) attracting and retaining a diverse workforce through their internationalization program. © 2004 Wiley Periodicals, Inc.
School Vouchers and the New Politics of the Welfare State

School vouchers might seem a natural feature of the liberal welfare model of the U.S. and American society generally. However, for social democratic welfare states in Scandinavia, school vouchers would seem to be a contradiction. Nevertheless, school vouchers have faced severe resistance in the USA, and the program has so far not been adopted as a national educational reform, although sporadic and limited state-level developments can be observed. In Sweden, however, the social democratic welfare state adopted a national, universal public voucher scheme in the early 1990s. The goal of this article is to explain this counter-theoretical empirical puzzle. It is argued that the varying output from political processes on school vouchers in the USA and Sweden is to be explained by the different ways in which political institutions affect political decision making in the two countries.
Note on inventory model with net present value

Abstract We study the paper of Hadley to compare the order quantities for inventory models using the average annual cost and the discounted cost. The purpose of this note is threefold. First, we show that the solution for the discounted cost inventory model is exist and unique. Second, we provide a formulated approximation for the discounted cost inventory model. Third, we use our approximation to explain why two solutions by the average annual cost and the discounted cost are close each other such that the numerical analysis in Hadley’s examples to demonstrate a negligible difference between them is explained. Our findings will undoubtedly improve the theoretical base for inventory models and develop new practical application for operational research.
Desperately Ducking Slavery: Dred Scott and Contemporary Constitutional Theory

Contemporary constitutional theory rests on three premises. Brown v. Board of Education was correct, Lochner v. New York was wrong, and Dred Scott v. Sandford was also wrong. A few intrepid souls question whether Brown was correctly decided (although they would not have the Supreme Court overrule that decision}. Some proponents of law and economics favor reviving the freedom of contract and the Lochner decision.z No one, however, wishes to rethink the universal condemnation of Dred Scott.3 "American legal and constitutional scholars," The Oxford Companion to the Supreme Court states, "consider the Dred Scott decision to be the worst ever rendered by the Supreme Court. "4 David Currie's encyclopedic The Constitution in the Supreme Court maintains that the decision was "bad policy," "bad judicial politics" and "bad law. "s Commentators across the political spectrum describe Dred Scott as "the worst constitutional decision of the nineteenth century,"6 "the worst atrocity in the
Monetary Policy Implementation: A European Perspective

Monetary policy implementation is one of the most significant areas of interaction between central banking and financial markets. Historically, how this interaction takes place has been viewed as having an important impact on the ultimate objective of monetary policy, for example price stability or stimulating economic growth. In this article, we survey different approaches to monetary policy implementation. We cover briefly some of the historical trends, but give particular attention to the practice that is now (again) very common world-wide; namely, targeting short term interest rates. We discuss various ways this can be done and the implications for financial markets. We emphasize different European approaches, while also providing comparisons with the Fed.
Cooperative transmission meets computation provisioning in downlink C-RAN

Cloud radio access network (C-RAN), regarded as a promising green network architecture, facilitates cooperative transmission among remote radio heads (RRHs) while enabling flexible computation provisioning in the virtualized baseband unit pool. By jointly optimizing cooperative transmission, i.e., transmit power allocation with zero-forcing precoding adopted, and computation provisioning, i.e., virtual machine assignment, this paper minimizes the system power consumption comprised of transmit power and processing power in downlink C-RAN. Specifically, subject to per-RRH power constraint (PRPC) and per-MU quality of service constraint, the system power consumption minimization problem is formulated as a mixed integer nonlinear programming (MINLP) problem. To solve the challenging MINLP, we reformulate the MINLP as a minimum weight perfect matching problem to get the initial solution without considering the PRPC. On this basis, a power-aware greedy algorithm is further devised to modify the solution such that the PRPC is satisfied. Finally, extensive simulations show the superiority of the proposed scheme on system power saving and the tradeoff between transmit power and processing power.