Miracle-dz/UniFAR-FTUs huggingface dataset:
Planar In-Hand Manipulation Using Primitive Rotations Based on Isometric Transformations

Achieving in-hand manipulation of a grasped object is challenging in robotic communities. This article proposes a planar intrinsic in-hand manipulation approach based on isometric transformation. We demonstrate that the isometric transformation (excluding reflections) can be reduced to rotations with two fixed centers, if more than two rotations around two different centers are performed. Furthermore, this article applies this theory to reposition and reorient a grasped object by performing three or more primitive rotations sequentially. We further analyze the feasible manipulation space, where the desired position and orientation of a grasped object can be attained. The theoretical results have been verified through simulations and experiments. In addition, we performed several real-world tasks using a novel robotic hand with two rotational degrees of freedom at each finger, demonstrating that the proposed in-hand manipulation method can reposition and reorient different grasped objects in $\text{SE}(2)$.
An Investigation of Exhaust Gas Temperature of Aircraft Engine Using LSTM

A significant obstacle to creating efficient machine health monitoring systems is estimating performance degradation in dynamic systems, like aero plane engines. In exceedingly complex systems with many components, states, and parameters, conventional model-based and data-driven methods fall short of producing satisfactory results. While traditional methods had several drawbacks, deep learning has emerged as a viable computational tool for dynamic system prediction. In order to track system deterioration and estimate the EGT, a novel technique based on the Long Short-Term Memory (LSTM) network, (an architecture created to find the hidden patterns hidden in time series data) is provided in this research. The health monitoring information of aircraft turbofan engines is used to assess the effectiveness of the proposed strategy. As a result of this network’s ability to recognize the input data as a real-time series, the output in the following step can be predicted. Results of the suggested study show a significant ability to anticipate the output in the following time step. Additionally, the proposed model has a shorter learning curve and is more accurate.
Embedded Six-DoF Force–Torque Sensor for Soft Robots With Learning-Based Calibration

Soft robots typically exhibit large deformation that makes integrating rigid sensors cumbersome. Especially for soft surgical robots, direct sensor-based feedback is required. In this study, we have proposed, modeled, prototyped, and validated a novel smart polymer-based soft sensor for integration with soft robots. Previously, we have shown that the proposed smart polymer exhibits piezoresistivity. Thus, in this study, we integrated the proposed sensor with a flexural soft robot. Afterward, the sensor was calibrated through a series of experimental tests, and a multilayer perceptron (MLP) was trained for the calibration. The calibration showed a maximum root-mean-square error (RMSE) of 10.6 mN and a mean absolute error of 8 ± 10 mN compared with the ground truth. The experimental validation showed that the proposed sensor and calibration method demonstrated a combined mean absolute error of 7.4 ± 6.5 mN. In addition, the minimum detectable force of the sensor was less than 1 mN with a range of up to 284 mN. The system performance was compatible with representative intraluminal applications’ range and accuracy requirements.
Improving the Force Reconstruction Performance of Vision-Based Tactile Sensors by Optimizing the Elastic Body

The force feedback of vision-based tactile sensors is always expected to be accurate and robust. This work focuses on indicating and lessening the limitation of the structure of the vision-based tactile sensor's elastic body on the distributed force reconstruction performance. The conflict between the accuracy and the robustness of the reconstructed force and the limitation of the elastic body's structure on the accuracy and robustness are discussed based on a general force measurement model of vision-based tactile sensors. Aiming to improve the force reconstruction performance by optimizing the elastic body, we propose a quantitative sensitivity index to evaluate and compare the performance of the elastic body. Under the guidance of the proposed sensitivity index, the methods and principles of optimizing the structure are explored. Finally, the applications of the methods and principles in optimizing the elastic body of two representative vision-based tactile sensors, Tac3D and GelSight, are carried out and significantly improve their force reconstruction performance.
High-performance and electrically stable C60 organic field-effect transistors

The authors report on high-performance C60 organic field-effect transistors fabricated by physical vapor deposition. Electron mobility ranging from 2.7to5. 0cm2∕Vs was achieved when treating the gate dielectric with divinyltetramethyldisiloxane bis(benzocyclobutene) and depositing C60 at room temperature. The transistors combine threshold voltages near zero, low subthreshold slopes (<0.7V/decade), on/off current ratios larger than 106, excellent reproducibility, and good electrical stability under prolonged continuous dc bias stress.
Comparison of font size and background color strategies for tag weights on tag maps

ABSTRACT Tag weight differences in tag maps are usually reflected by different font sizes. With this strategy, low weighted tags may be ignored and tag sizes may be misjudged due to differing word length, character height and word width. To address these shortcomings, this paper improves the layout method of tag maps by presetting anchor points. We construct weight contours based on corner points and center points of tag outer envelope rectangles and adopt hypsometric tinting as background color to reflect tag weight differences. Finally, we compare and analyze the background color strategy with the font size strategy from the perspectives of tag selection, tag recognition, tag recall, confidence, readability, and preference through eye movement experiments and questionnaire surveys. The results show that both strategies exhibit advantages (when tags are devoid of semantics), with the font size strategy being favored slightly in this abstract case. We provide tag map designers with a new visualization scheme for the expression of tag weight.
Caregiving and Shared Decision Making in Breast and Prostate Cancer Patients: A Systematic Review

Background: A cancer diagnosis can impact patients’ and caregivers’ lives, posing different challenging situations. In particular, breast cancer and prostate cancer are two types of cancer involving families and especially spouses in challenges linked with the diagnosis and treatment process. Caregivers are usually involved in the treatment decision-making (TDM) process concerning patients’ clinical pathway, cancer treatment, and ongoing therapies. To date, no contributions provide an exhaustive overview of the role of caregivers in cancer care and their involvement in the TDM process related to the therapies. Methods: We performed a systematic review of caregiver and patients experiences and perceptions of caregiver involvement in cancer TDM. Articles were searched on Public/Publisher MEDLINE (PubMed), Excerpta Medica Database (Embase), Medical Literature Analysis and Retrieval System Online (Medline), and American Psychological Association APA PsycINFO. Results: 17 studies were included, 10 on prostate cancer and 7 on breast cancer. According to the reviewed studies, patients and caregivers experienced the cancer diagnosis with a sense of unity. Most patients preferred to have an active or collaborative role with caregivers in TDM, feeling it was important to consult or share the decision made with their caregivers. Caregivers preferred to collaborate with patients or let patients decide by themselves after considering their opinions. Caregiver involvement could have a positive influence on the patient’s medical decisions, even if cancer diagnosis and treatments overwhelmed patients and caregivers. Conclusions: These findings highlight the importance of using a perspective that focuses on the relationship between a patient and caregivers when they receive a cancer diagnosis and have to make a treatment decision. Targeting caregiver–patient dyads, rather than individuals, is important since a supported relationship could have a protective effect on psychological distress, quality of life (QOL), and relationship satisfaction. Moreover, dyads may benefit from interventions that focus on the needs of both the patient and caregiver.
Frequency domain behavior of a set of parallel multigrid smoothing operators

A set of alternative smoothing operators to the usual relaxation methods for multigrid algorithms is presented and analyzed in terms of frequency domain behavior. The operations presented are inherently parallel and fit well onto hypercube multiprocessors: they can be readily calculated and applied in a parallel manner. We start by interpreting multigrid smoothers as approximate inverses. In particular, a least squares approximate inverse obtained by solving a Frobenius matrix norm minimization problem proves effective. This approximate inverse also has a least squares interpretation in the frequency domain for the special case of circulant operators, or in the case of local mode Fourier analysis for the discrete operator in the central part of the domain over which the discretization is performed. Experimental results are presented for one and two dimensional problems. Convergence rates as determined by direct iteration are compared with local mode Fourier analysis results.
INTERACTIONS BY EXCHANGE OF VOLUME BETWEEN TWO SPHERICAL BUBBLES

In this paper, by using the system potential of two bubbles and with a special interest in the interaction by exchange of volume and without exchange of mass, a system of equations governing the evolution of two bubbles is proposed. This two-bubble model shows terms that do not appear in the models of interaction between bubbles. The two-bubble model is compared with the modified Rayleigh–Plesset equation and a validation with the experimental study of Ohl [2002] is presented. The numerical results show that, on one hand, the development of small nearby bubbles can slow down the evolution of the biggest local one, while their disappearance can favor its growing. Furthermore, in the case of two bubbles in particular, the small bubble exchanges volume with the big one during their evolutions. On the other hand, contrary to the modified Rayleigh–Plesset model, the two-bubble model predicts appearance and disappearance of small bubbles in the neighborhood of the big bubble as it is observed in the experimental study of Ohl [2002]. The present findings show in particular that the interaction by exchange of volume can be very important in the cavitation born phase and it is necessary to take into account the interaction between bubbles as well as the disappearance of small ones on the evolution of the biggest local bubble. Also, this two-bubble model predicts an exchange of volume between both bubbles equal to zero when they are perfectly identical.
A Characteristic Projection Method for Incompressible Thermal Flow

This work deals with the computation of incompressible thermal flow under the Boussinesq hypothesis, and a characteristic projection method is proposed for this. First, characteristic temporal discretization is used to obtain an upwind scheme, then at each time step the energy equation can be decoupled from momentum equations. For the remaining Stokes problem we present an improved projection method, which can overcome the numerical boundary-layer problem of the traditional projection method. In conclusion, only three independent linear elliptic equations need to be calculated at each time step; moreover, the stiffness matrices of finite-element approximation are symmetrical, positive, and time-invariant.
Interaction of Nonrelativistic Particles with a Quantized Scalar Field

We demonstrate the mathematical existence of a meson theory with nonrelativistic nucleons. A system of Schrodinger particles is coupled to a quantized relativistic scalar field. If a cutoff is put on the interaction, we obtain a well‐defined self‐adjoint operator. The solution of the Schrodinger equation diverges as the cutoff tends to infinity, but the divergence amounts merely to a constant infinite phase shift due to the self‐energy of the particles. In the Heisenberg picture, we obtain a solution in the limit of no cutoff. We use a canonical transformation due to Gross to separate the divergent self‐energy term. It is shown that the canonical transformation is implemented by a unitary operator, and that the transformed Hamiltonian, with an infinite constant subtracted, can be interpreted as a self‐adjoint operator.
Bartholdi zeta functions of periodic graphs

Recently, Guido et al. [D. Guido, T. Isola, and M.L. Lapidus, Ihara's zeta function for periodic graphs and its approximation in the amenable case, J. Funct. Anal. 255 (2008), pp. 1339–1361] defined the Ihara zeta function of a periodic graph, and gave a determinant expression of it. We define the Bartholdi zeta function of a periodic graph, and present its determinant expression.
Influenza A Virus M1 Protein Non-Specifically Deforms Charged Lipid Membranes and Specifically Interacts with the Raft Boundary

Topological rearrangements of biological membranes, such as fusion and fission, often require a sophisticated interplay between different proteins and cellular membranes. However, in the case of fusion proteins of enveloped viruses, even one molecule can execute membrane restructurings. Growing evidence indicates that matrix proteins of enveloped viruses can solely trigger the membrane bending required for another crucial step in virogenesis, the budding of progeny virions. For the case of the influenza A virus matrix protein M1, different studies report both in favor and against M1 being able to produce virus-like particles without other viral proteins. Here, we investigated the physicochemical mechanisms of M1 membrane activity on giant unilamellar vesicles of different lipid compositions using fluorescent confocal microscopy. We confirmed that M1 predominantly interacts electrostatically with the membrane, and its ability to deform the lipid bilayer is non-specific and typical for membrane-binding proteins and polypeptides. However, in the case of phase-separating membranes, M1 demonstrates a unique ability to induce macro-phase separation, probably due to the high affinity of M1’s amphipathic helices to the raft boundary. Thus, we suggest that M1 is tailored to deform charged membranes with a specific activity in the case of phase-separating membranes.
Diarylureas: New Promising Small Molecules against Streptococcus mutans for the Treatment of Dental Caries

Dental caries is a biofilm-mediated disease that represents a worldwide oral health issue. Streptococcus mutans has been ascertained as the main cariogenic pathogen responsible for human dental caries, with a high ability to form biofilms, regulated by the quorum sensing. Diarylureas represent a class of organic compounds that show numerous biological activities, including the antimicrobial one. Two small molecules belonging to this class, specifically to diphenylureas, BPU (1,3-bis[3,5-bis(trifluoromethyl)phenyl]urea) and DMTU (1,3-di-m-tolyl-urea), showed interesting results in studies regarding the antimicrobial activity against the cariogenic bacterium S. mutans. Since there are not many antimicrobials used for the prevention and treatment of caries, further studies on these two interesting compounds and other diarylureas against S. mutans may be useful to design new effective agents for the treatment of caries with generally low cytotoxicity.
Relocalization of Translation Termination and Ribosome Recycling Factors to Stress Granules Coincides with Elevated Stop-Codon Readthrough and Reinitiation Rates upon Oxidative Stress

Upon oxidative stress, mammalian cells rapidly reprogram their translation. This is accompanied by the formation of stress granules (SGs), cytoplasmic ribonucleoprotein condensates containing untranslated mRNA molecules, RNA-binding proteins, 40S ribosomal subunits, and a set of translation initiation factors. Here we show that arsenite-induced stress causes a dramatic increase in the stop-codon readthrough rate and significantly elevates translation reinitiation levels on uORF-containing and bicistronic mRNAs. We also report the recruitment of translation termination factors eRF1 and eRF3, as well as ribosome recycling and translation reinitiation factors ABCE1, eIF2D, MCT-1, and DENR to SGs upon arsenite treatment. Localization of these factors to SGs may contribute to a rapid resumption of mRNA translation after stress relief and SG disassembly. It may also suggest the presence of post-termination, recycling, or reinitiation complexes in SGs. This new layer of translational control under stress conditions, relying on the altered spatial distribution of translation factors between cellular compartments, is discussed.
Support Saves Lives: Exploring the Relationship Between Age of Transition, Family Support, and Retrospective K-12 Educational Experiences in Transgender Suicidality

Purpose: The purpose of this study is to test the association between protective and risk factors, including age of transition, K-12 experiences, and family support, on suicidality among transgender and gender nonbinary/ gender queer (TNB) adults. Methods: Our analysis relies on data from the 2015 United States Transgender Survey. We used separate logistic regression models to predict lifetime suicidal ideation and suicide attempt among 19,121 survey respondents. Results: Negative K-12 experiences signiﬁcantly predict higher likelihood of both suicidal ideation and suicide attempt for transgender people, regardless of age of transition, and after controlling for a host of covariates. The age a transgender person begins to live full time in a gender different from the one assigned at birth has little association with suicidality. However, supportive families act as a buffer against suicidal ideation, and unsuppor-tive families signiﬁcantly predict higher likelihood of suicide attempt for transgender people when controlling for numerous covariates. Conclusion: Our ﬁndings underscore the importance of supportive environments for TNB adolescents. Interventions that strengthen interpersonal relationships and local environments will reduce suicidality among TNB youth. Importantly, recent anti-trans legislation may interfere with the ability of teachers and families to provide needed supports and will likely have deleterious effects on the mental health of TNB individuals.
On the Wind Geometry of the Wolf-Rayet Star EZ Canis Majoris

Recent models of Wolf-Rayet star winds have been tailored to EZ CMa, and make predictions of the envelope structure and location of line-emitting regions. It is discussed how the wind structure of EZ CMa can be probed observationally through electron distribution integrals as measured by spectropolarimetry, and then present, analyze, and interpret a time-dependent spectropolarimetric data set of EZ CMa. The observations further the view of an electron-scattering wind that is axisymmetric, rotating, and expanding, with a variable mass-loss rate being responsible for the quasi-periodic polarimetric variability. It is demonstrated that the emission lines of EZ CMa are partially polarized, indicating that line photons are electron-scattered in the wind. The polarization in N V lambda 4945 and N IV lambda 4058 is observed to be larger than that of He II lambda 4686 and He I lambda 5876, as expected from ionization stratification.
The Impact of Covid-19 on Microfinance Institutions in Somalia

This study aims to investigate how Covid-19 has affected the microfinance institutions in Somalia. This study employed a qualitative descriptive approach by conducting a case study in Mogadishu and Hargeisa. The data of the study was collected through a questionnaire distributed to microfinance institutions in Somalia in 2021. The paper found that the number of MFIs that have been negatively affected by the epidemic was higher than the number affected positively or naturally. It also found that most MFIs witnessed high credit risks, and more than half of them have reduced lending to less than half due to the Covid-19.
Collisional-Radiative Modeling Behind Shock Waves in Nitrogen

Nonequilibrium plasma, produced by the propagation of a shock wave in a shock tube or behind a shock front detached from a body entering a planetary atmosphere, requires the development of state-to-state models. The collisional-radiative model for N2 has been elaborated on in this framework for pure nitrogen flows. Its elaboration is reported in this paper. The model includes N2, N2+, N, N+, and free electrons in thermochemical nonequilibrium. The model is vibrationally and electronically specific insofar as the vibrational states of the electronic ground state of N2 and the electronic excited states of N2; and the electronic ground and excited states of N2+, N, and N+ are individually treated. These states are involved in collisional and radiative elementary processes, forming a set of around 40,000 basic data. This model is implemented in a one-dimensional flow, numerical code based on an Eulerian approach. Two test cases are treated at Mach numbers of around 30 and 40, the conditions of which relate to.
Give Me the Facts or Make Me Feel: How to Effectively Persuade Consumers to Act on a Collective Goal

This research explores how marketers can best persuade consumers to act in a collective goal context, such as giving to a donation campaign or signing a petition. The authors examine whether consumers respond differently to fact-based versus affect-based persuasive messages at different stages of a collective campaign. Seven studies demonstrate that the relative impact of fact-based versus affect-based appeals changes with varying distance to the completion of the collective goal. Whereas a fact-based message better persuades consumers to support a collective goal when the distance to completion is large (i.e., far from completion), an affect-based message better persuades consumers to support the goal when the distance to completion is small (i.e., near completion). This enhanced persuasion occurs because the psychological state triggered by the remaining distance matches the message type and, in turn, encourages deeper processing of the appeal.
Laser backwriting process on glass via ablation of metal targets

We present the fabrication of waveguides by laser ablation of metal targets on pyrex glasses. An horizontal position of the sample and the plate was found suitable to improve the effect of the plume in the sample with respect to the alternative vertical arrangement. We have analysed the longitudinal and transversal profiles, using a profilometer and have compared the results for the different configurations, speeds and metal targets. We show pictures of the surfaces, obtained by electron microscopy and confocal microscopy. We have studied the characteristics of the structures taking account the optical and thermal properties of the metal foils.