Miracle-dz/UniFAR-FTUs huggingface dataset:
Robust Calibration Approach for Robot Base Coordinate System Based on RANSAC-SVD

Base coordinate system calibration is a critical issue when performing certain tasks in a uniform coordinate system, especially in industrial manipulation. Conventional calibration approaches are susceptible to rotation matrix normalization and measurement noise, which may influence the calibration accuracy and robustness greatly. To address this problem, a robust calibration approach based on random sample consensus (RANSAC)-singular value decomposition (SVD) is proposed in this article. Specifically, a closed chain configuration is first adopted to construct the pose relationship between the manipulator and external measuring equipment. The intermediate orthonormal rotation matrix is obtained using the SVD-based approach with four noncoplanar points. Then, the candidate calibration solution is finally estimated based on RANSAC by alleviating the effects of measurement noise and using the robust iterative scheme. The proposed calibration approach possesses the advantage of not only reducing the impact of measurement noise on the calibration accuracy greatly, but also avoiding the nonorthogonalization problem when finding the solution of the rotation matrix. Then, the numerical simulations are conducted on the calibration accuracy and robustness in the presence of different levels of noise. A research prototype of the calibration system consisting of the industrial manipulator and the binocular camera is developed. Experiments are carried out to validate that the RANSAC-SVD-based calibration approach is superior to other calibration approaches in terms of calibration accuracy and robustness. The calibration approach can provide a reference for other pose calibration problems.
Freshwater Storage in Brackish Aquifers

In this paper, MODFLOW was used to investigate the long-term injection and recovery of freshwater in the brackish aquifer of Wadi Ham, United Arab Emirates. The simulations were conducted for six successive cycles of injection and recovery with constant recharge and recovery rates and also constant durations. The simulations were also performed for various rates of injection and recovery and the recovery efficiency of the system was evaluated. The recovery efficiency varied between 32% and 88% and increased significantly during the first three cycles and then slightly in the following runs. The effect of the injection and recovery rates and the duration of the recharge were also investigated.
Forecasting Monthly GDP for Canada

The objective of this paper is to develop a short-term indicator-based model to predict quarterly GDP in Canada by efficiently exploiting all available monthly information. To this aim, monthly forecasting equations are estimated using the GDP series published every month by Statistics Canada as well as other monthly indicators. The procedures are automated and the model can be run whenever major monthly data are released, allowing the appropriate choice of the model according to the information set available. The most important gain from this procedure is for the current-quarter forecast when one or two months of GDP data are available, with all monthly models estimated in the paper outperforming a standard quarterly autoregressive model in terms of size of errors. The use of indicators also appears to improve forecasting performance, especially when an average of indicator-based models is used. Real-time forecasting performance of the average model appear to be good, with an apparent stability of the estimates from one update to the next, despite the extensive use of monthly data. The latter result should nonetheless be interpreted with caution and will need to be re-assessed when more data become available. Prevoir le PIB mensuel au Canada L’objectif de cet article est de developper un modele d’indicateurs conjoncturels pour predire le PIB trimestriel au Canada en utilisant de maniere efficace toute l’information mensuelle disponible. A cette fin, des equations mensuelles de previsions de court terme sont estimees en utilisant la serie de PIB publiee chaque mois par Statistique Canada et d’autres indicateurs conjoncturels. Les procedures ont ete automatisees et le modele peut etre mis a jour chaque fois qu’une donnee importante est publiee, la specification du modele variant ainsi en fonctions de l’ensemble des donnees disponibles. Le gain le plus important de la procedure developpee est obtenue pour les previsions du trimestre courant quand un ou deux mois de donnees du PIB mensuel sont disponibles. Dans ce cas, tous les modeles mensuels estimes dans cet article ont des erreurs de previsions inferieures a celle d’un modele trimestriel autoregressif standard. L’utilisation d’indicateurs conjoncturels ameliore les performances en termes de previsions, en particulier lorsqu’une moyenne de tous les modeles d’indicateurs conjoncturels est utilisee. Les previsions realisees en temps reel en faisant la moyenne des differents modeles d’indicateurs conjoncturels se sont averees de qualite satisfaisante, avec une stabilite apparente des estimations successives, malgre l’utilisation extensive de donnees mensuelles. Ces resultats doivent toutefois etre interpretes avec prudence et devront etre verifies quand plus de donnees seront disponibles.
Response of smooth rock skullcap (Scutellaria saxatilis), a globally rare plant, to fire

Scutellaria saxatilis Riddell (smooth rock skullcap or rock skullcap, hereafter abbreviated as SRS), a herbaceous perennial in the mint family, is a globally rare (G3) plant. In West Virginia, SRS is categorized as an S2 species (imperiled and at high risk of extinction due to a very restricted range, very few [1,000 individuals were selected, one in a burn area and the other in a nonburn area. Sites were sampled in early September of 2008 and 2009 (pre-burn) and 2010 and 2011 (postburn). The prescribed burn occurred in April and early May of 2010. A generalized linear mixed model with repeated measures and a spatial covariance matrix was used to determine the effects of the burn on SRS cover and associated variables including total vegetation cover, species diversity, bare ground, and litter cover. Bare ground cover increased and litter cover decreased in 2010 in response to the fire. Control and pre-burn sites did not differ significantly in terms of SRS cover over the 4-year period. The cover of SRS increased significantly in 2010 (first year postburn) compared to both pre-burn years, but decreased to pre-burn levels by 2011. Total cover of other understory vegetation increased significantly in 2010 and continued at 2010 levels in 2011 at the burn site. Thus, SRS has a temporary positive response to prescribed fire, but an increase in other ground vegetation may prevent a sustained positive response.
The State-of-the-Art and Perspectives of Laser Ablation for Tumor Treatment

Tumors significantly impact individuals’ physical well-being and quality of life. With the ongoing advancements in optical technology, information technology, robotic technology, etc., laser technology is being increasingly utilized in the field of tumor treatment, and laser ablation (LA) of tumors remains a prominent area of research interest. This paper presents an overview of the recent progress in tumor LA therapy, with a focus on the mechanisms and biological effects of LA, commonly used ablation lasers, image-guided LA, and robotic-assisted LA. Further insights and future prospects are discussed in relation to these aspects, and the paper proposed potential future directions for the development of tumor LA techniques.
EVERYDAY LIFE OF ADOLESCENTS AND YOUNG PEOPLE UNDERGOING HEMODIALYSIS TREATMENT IN THE LIGHT OF AGNES HELLER: A CASE STUDY

ABSTRACT Objective: to understand the everyday life of adolescents and young people with chronic kidney disease undergoing hemodialysis treatment. Method: a qualitative research study of the Single Case Study type developed in a Renal Clinic from southern Brazil. Eight adolescents and young people aged between 18 and 24 years old undergoing hemodialysis treatment from February 5th, 2021, to January 26th, 2022. Data production was through semi-structured interviews, data from electronic medical records and participant observation through data triangulation. The observation was based on a script and field diary. The data were submitted to inductive thematic analysis and interpreted in the light of Agnes Heller's concept of everyday life. Results: the everyday life of adolescents and young people experiencing chronic kidney disease is impacted from the moment they receive the diagnosis until they understand their health situation. The changes imposed by the treatment and maintenance of the care measures have repercussions as limits faced in their everyday life. As for self-care, the major concern refers to the laboratory test levels. Conclusion: the everyday life of adolescents and young people on hemodialysis is permeated by unique changes in their existence and the construction of their own identity, added to the impact of the disease and the new condition imposed by the treatment. It is believed that the time they remain at the Clinic constitutes a strategy for health education, meeting the needs for diverse information about their chronic condition and treatment and contributing to the externalization of their humanity as a whole in this everyday routine.
Alternative Polyadenylation Directs Tissue-Specific miRNA Targeting in Caenorhabditis elegans Somatic Tissues

Alternative polyadenylation (APA) is observed in virtually all metazoans and results in mRNA isoforms with different 3’ends. It is routinely. mRNA expression dynamics promote and maintain the identity of somatic tissues in living organisms; however, their impact in post-transcriptional gene regulation in these processes is not fully understood. Here, we applied the PAT-Seq approach to systematically isolate, sequence, and map tissue-specific mRNA from five highly studied Caenorhabditis elegans somatic tissues: GABAergic and NMDA neurons, arcade and intestinal valve cells, seam cells, and hypodermal tissues, and studied their mRNA expression dynamics. The integration of these datasets with previously profiled transcriptomes of intestine, pharynx, and body muscle tissues, precisely assigns tissue-specific expression dynamics for 60% of all annotated C. elegans protein-coding genes, providing an important resource for the scientific community. The mapping of 15,956 unique high-quality tissue-specific polyA sites in all eight somatic tissues reveals extensive tissue-specific 3′untranslated region (3′UTR) isoform switching through alternative polyadenylation (APA) . Almost all ubiquitously transcribed genes use APA and harbor miRNA targets in their 3′UTRs, which are commonly lost in a tissue-specific manner, suggesting widespread usage of post-transcriptional gene regulation modulated through APA to fine tune tissue-specific protein expression. Within this pool, the human disease gene C. elegans orthologs rack-1 and tct-1 use APA to switch to shorter 3′UTR isoforms in order to evade miRNA regulation in the body muscle tissue, resulting in increased protein expression needed for proper body muscle function. Our results highlight a major positive regulatory role for APA, allowing genes to counteract miRNA regulation on a tissue-specific basis.
Better than Bieber? Measuring Song Quality Using Human Feedback

Music recommendation algorithms on streaming platforms tend to reinforce popularity biases over time. This leads to a perceived unfairness for a majority of artists. In this article we address the fairness problem through an assessment of actual user preferences collected on a music app designed to capture the intensity of user sentiment. Users of the app provide explicit feedback on songs, designating them as dislike, like, and superlike (a function which saves songs to a playlist). We find that while the like rate increases monotonically with artist popularity, this does not hold true for superlike rates — those are highest for artists with much lower monthly streams. These findings have implications for the growth potential in the music market and the legitimacy of current recommendation algorithms.
Hardware–Software Co-Optimization of Long-Latency Stochastic Computing

Stochastic computing (SC) is an emerging paradigm that offers hardware-efficient solutions for developing low-cost and noise-robust architectures. In SC, deterministic logic systems are employed along with bit-stream sources to process scalar values. However, using long bit-streams introduces challenges, such as increased latency and significant energy consumption. To address these issues, we present an optimization-oriented approach for modeling and sizing new logic gates, which results in optimal latency. The optimization process is automated using hardware–software cooperation by integrating Cadence and MATLAB environments. Initially, we optimize the circuit topology by leveraging the design parameters of two-input basic logic gates. This optimization is performed using a multiobjective approach based on a deep neural network. Subsequently, we employ the proposed gates to demonstrate favorable solutions targeting SC-based operations.
Earth Surface Systems: Complexity, Order and Scale

1. Earth Surface Systems. 2. The Qualitative Analysis of Earth Surface Systems. 3. Order and Complexity. 4. The General Case. 5. Solving Problems. 6. Soil: The Prototype Earth Surface System. 7. Deterministic Complexity and Soil Memory. 8. Scale Problems. 9. Walk That Aisle. References.
Pemodelan Kemiskinan di Propinsi Jawa Timur dengan Pendekatan Multivariate Adaptive Regression Splines Ensemble

Masalah kemiskinan merupakan salah satu permasalahan utama pemerintah yang diprioritaskan dalam menyusun strategi pembangunan setiap negara termasuk Indonesia. Selama ini telah banyak program-program atau kebijakan khusus yang dibuat oleh pemerintah guna menanggulangi masalah kemiskinan namun belum juga terpecahkan. Penelitian ini dilakukan untuk mengetahui model kemiskinan di Propinsi Jawa Timur dengan pendekatan MARS ensemble. Kemiskinan sendiri oleh BPS diukur dengan tiga indikator yaitu persentase penduduk miskin, indeks kedalaman kemiskinan, dan indeks keparahan kemiskinan. Ketiga indikator kemiskinan tersebut dijadikan sebagai variabel respon dalam penelitian ini yang dimodelkan dengan faktor yang diduga mempengaruhinya baik dari kualitas ekonomi, kualitas sumber daya manusia, dan kesehatan. Hasil penelitian menunjukkan bahwa pendekatan MARS ensemble memberikan hasil yang lebih baik dibandingkan dengan pendekatan MARS pada ketiga pemodelan tersebut.
A deconstruction of the I-M-L commitment segmentation of forest recreationists

Previous work has established the general utility of segmenting forest recreationists according to their commitment profiles into Indifferents, Moderates, and Loyalists (IML) groups. Observed differences between these segments suggest that place identity and affect are more central to management than previously thought. This study extends this finding through the use of deconstruction analysis across common activity groupings that encapsulate use and lifestyle factors, namely visitor centers, trailheads, off highway vehicle (OHV) areas and developed sites. Results again show strong consistency in the IML segmentation itself, with only value congruence substantially not conforming. This analysis finds little evidence that alternative cultural values or social power issues are significant factors in the segmentation, and further reinforces the finding that the commitment profile segmentation is robust and stable.
Purposeful heading during a season does not influence cognitive function or balance in female soccer players

Soccer participation, especially among females, is growing in popularity in the United States. Purposeful heading, an important soccer skill, has recently been scrutinized for safety reasons. The purpose of this study was to determine whether there was a relationship between purposeful heading and scores on cognitive function and balance in high-school and collegiate female soccer players. Prior to and following the soccer season, all players and members of the control group were given a battery of neuropsychological and balance tests. There were no significant correlations found between the total number of game headers and performance on either balance or neuropsychological testing. Differences were noted in adjusted balance scores postseason between the collegiate players and the other two groups. However, no differences were revealed in neurocognitive performance between the three groups.
MAPPING GLOBAL VIOLENCE AND HEALTH INFORMATION

espanolEste articulo describe la produccion de un atlas mundial sobre violencia y salud. El Atlas ha sido publicado por el Centro para el Desarrollo de la Salud de la Organizacion Mundial de la Salud (OMS), en Kobe (Japon). Los Sistemas de Informacion Geografica (SIG) han jusgado un significativo papel en la recogida, integracion, gestion, analisis y presentacion de la informacion. El formato y estilo del Atlas es a la vez audaz e innovador. En el articulo se describen el proceso seguido y la produccion del mismo. EnglishThis paper describes the production of an atlas on global violence and health. The World Health Organization, Centre for Health Development (WHO Kobe Centre), Kobe, Japan has published the Atlas. GIS has played a significant role in the collection, collation, management, analysis and presentation of the information. The form and style of the Atlas is both bold and innovative. The paper describes the process and production.
Ecological Climatology: Concepts and Applications

1. Introduction 2. Global climatology 3. Climate variability 4. Climate change 5. Hydrologic cycle 6. Soils 7. Surface energy fluxes 8. Surface climates 9. Leaves and plants 10. Populations, communities, and ecosystems 11. Vegetation dynamics 12. Climate-ecosystem dynamics 13. Agroecosystems 14. Urban ecosystems.
Instructor's success measures of Learning Management System

Distance learning has been used widely as a helpful solution by many institutions to offer learning on demand opportunities to working adults. Educational technology evaluation model (ETM) have been tested in large sample size among students, and little research has been conducted to measure the success of distance learning technologies such as Learning Management System (LMS) from the point of view of instructors. Based on previous literature of critical success factors (CSF), this study validated a multidimensional model for assessing distance learning management systems success from the perspective of the instructors. To conceptualizing the ETM, measuring factors, collecting data procedure, reliability and validity testing are described. Structural Equation Modelling (SEM), which is a statistical technique, is used to estimate a series of interrelated dependence relationships of ETM factors simultaneously. This technique is applied to help in generating a model of relationships among variables. This paper presents results of the instrument reliability and constructs validity by analyzing data from a sample of 110 participants. Managerial and theoretical implications of the results are discussed. This empirical validation of the ETM will be useful to researchers in developing and measuring distance learning technologies, as well as to organizations in implementing successful distance learning technologies.
Fish and Shellfish Aquaculture Impact on the Sediment Bacterial Communities in Xiangshan Bay, China

As the increase of demand for seafood supplies, a large amount of high-protein feed has been added to mariculture aeras, which causes hazards for the cultured organisms and environment. Here, we used 16S rRNA gene high-throughput sequencing to evaluate the bacterial communities in the sediments of two aquaculture systems (fish and oyster culture) in Xiangshan Bay, China for four seasons. Analysis of variance results showed that the abundance and biodiversity differed significantly between the culture areas and control areas, and different seasons as well. Proteobacteria, Planctomycetes, and Bacteroidetes were the three most abundant phyla. Gammaproteobacteria, Deltaproteobacteria, and Bacteroidia were the three most abundant classes. Principal co-ordinates analysis showed that sediment bacterial community composition in the fish and oyster culture areas significantly differed from that in the control areas. Analysis of the function prediction of pathways related to the nitrogen cycle in sediments revealed a higher proportion of genes involved in denitrification in aquaculture farms. Nitrate respiration particularly occurred in fish areas, whereas nitrate reduction occurred both in fish and oyster areas, and the proportions in winter were significantly higher than that in other seasons. It also provides insights into the indirect effects of human aquaculture activities on coastal algal blooms.
Projected changes in wind speed over the Republic of Korea under A1B climate change scenario

In this study, an attempt was made to investigate a future wind‐speed change over the Republic of Korea using a mesoscale weather research and forecasting (WRF) model. We presented dynamically downscaled wind fields and the physical processes that derived the surface wind changes. A double‐nested WRF model within the global‐scale scenario from the fifth generation of the ECHAM general‐circulation model (ECHAM5) was integrated for the present‐day (the late 20th century, 1990–1999) and future (the mid‐21st century, 2045–2054) wind climate. The ensemble mean of the simulated results for the sensitivity of planetary boundary‐layer physics provided a relative advantage in determining synoptic and surface fields. A reasonable and realistic wind climatology, influenced by the asymmetric heating of land and sea, was identified over the East Asian monsoon region. The observed spatial and temporal distributions of temperature and wind speed were also reproduced well by the mesoscale simulations. Projected wind‐speed changes at 80 m above ground level varied from –9.53 to 29.80% depending on the location and season. [Correction added 3 March 2014 after original online publication: in the preceding sentence ‘9.53’ has been corrected to ‘–9.53’. ] The strong wind speed in the cold season decreased (–5.45%), whereas the weak wind speed in the warm season increased (4.54%). A possible cause of the weakened and strengthened winds in cold and warm seasons, respectively, is shown to be the effects in the lower‐tropospheric pressure‐gradient force accompanied by pronounced warming.