Miracle-dz/UniFAR-FTUs huggingface dataset:
On computational intelligence tools for vision based navigation of mobile robots

En el trabajo de esta tesis se han tratado dos tipos de sensores basicos para el desarrollo de sistemas de navegacion: camaras opticas y camaras 3D de deteccion de rango, Con ambas los problemas tratados son el de autolocalizacion, deteccion de movimiento propio del robot y construccion de mapas. Se han obtenido buenos resultados utilizando tecnicas de computacion reticular, tecnicas evolutivas y de redes neuronales. La computacion reticular se ha aplicado a la autolocalizacion en mapas cualitativos y a la deteccion de balizas visuales con camaras opticas. Para la realizacion de procesos de localizacion metrica con camaras 3D de deteccion de rango, se han aplicado redes neuronales competitivas y algoritmos evolutivos para la estimacion de las transformaciones entre vistas 3D que nos proporcionan la estimacion del movimiento del robot. Finalmente, se ha realizado una prueba de concepto experimental sobre una plataforma robotica real de un Sistema Robotico Multi-Componente Enlazado con retroalimentacion visual. Abstract: This PhD Thesis has dealt with two types of sensors, studying their usefulness for the development of navigation systems: optical cameras and 3D range finder cameras. Both were used to attack the problems of selflocalization, egomotion and topological and metric map building. Good results have been obtained using Lattice Computing, Evolution Strategies and Artificial Neural Network techniques. Lattice Computing has been applied to self-localization in qualitative maps and to visual landmark detection using optical cameras. For metric localization tasks with 3D range finder cameras, Competitive Neural Networks and Evolution Strategies have been used to estimate the transformations between 3D views, which will provide the estimation of the robot's movement. Finally, we have performed a proof-of-concept physical experiment on the control of Linked Multi-Component Robotic Systems with visual feedback.
Conducting a GPS prompted recall survey over the internet

The Institute of Transport Studies at the University of Sydney (USydITS) has been innovative in its use of GPS to provide more accurate data on where and when people travel, their routes, travel distance, and travel time. GPS provides no information on the number of people travelling together, trip purposes, and travel costs. USydITS has made significant improvements to a method of collecting this additional information called the prompted recall survey, designed to be conducted some days after the GPS data are collected, using maps and tabular presentations from the GPS records to prompt the respondent's memory. We describe these surveys and document some of the results. As an improvement on the paper and pencil version, we developed an internet-based survey. This provides animation of each GPS trip, and gives respondents the ability to stop the trip part way through to indicate a trip end that the analysis of the GPS data had not detected, to restart the trip, and to indicate that a stop was only a traffic stop, not a destination. The paper describes the animation, shows the types of data that can be collected, and describes the advantages offered. Some examples are provided of the results of people using the prompted recall survey version.
Global digital data sets of soil type, soil texture, surface slope and other properties: Documentation of archived data tape

The file structure and coding of four soils data sets derived from the Zobler (1986) world soil file is described. The data were digitized on a one-degree square grid. They are suitable for large-area studies such as climate research with general circulation models, as well as in forestry, agriculture, soils, and hydrology. The first file is a data set of codes for soil unit, land-ice, or water, for all the one-degree square cells on Earth. The second file is a data set of codes for texture, land-ice, or water, for the same soil units. The third file is a data set of codes for slope, land-ice, or water for the same units. The fourth file is the SOILWRLD data set, containing information on soil properties of land cells of both Matthews' and Food and Agriculture Organization (FAO) sources. The fourth file reconciles land-classification differences between the two and has missing data filled in.
Application of the decisional regret scale (DRS) in men undergoing anti-incontinence procedures for stress urinary incontinence

Background Decisional regret (DR) has previously been applied to other urologic issues (hypospadias, prostate cancer). The present study seeks to evaluate certain patient factors that directly correlate to high DR scores in anti-incontinence procedures. Methods Medical records for 119 patients undergoing anti-incontinence procedures between 2009 and 2020 were retrospectively reviewed. Forty-one patients were accessible for telephone follow-up and provided a Decisional Regret Scale (DRS) questionnaire. If patients had both a sling and an artificial urinary sphincter (AUS) placed, questionnaires were administered for each. DRS score was quantified in accordance with prior literature, with scores ranging 0–100. We subdivided patients based on demographics and surgical data, correlating this with DRS score. Results In 41 patients, 46 procedures (13 slings, 33 AUS) were performed. Thirty-nine (95.1%) men underwent robotic-assisted laparoscopic prostatectomy, and 11 (26.8%) men reported prior pelvic radiation. Post-procedural continence, irrespective of procedure, yielded an average 2±1.56 pads per day (PPD). Mean DRS score across the cohort was 29.78. DRS score was subdivided into mild, moderate, and severe, with majority noting “none to mild” regret (63%), 15.2% reporting moderate and 21.7% severe. Predictors of higher regret included history of radiation (P=0.056), choice of anti-incontinence procedure (P=0.011), and need for surgical revision (P=0.00042). DR was unrelated to race, complete continence, and time to follow-up. Conclusions DRS has recently been applied to anti-incontinence procedures for male stress incontinence; our study highlights novel findings not previously assessed. Majority of men had minimal regret with a subset that had significant regret—history of radiation, multiple revisions/explant, and those who elected for sling upfront. These results highlight the importance of patient selection and pre-operative counselling.
Temporal Changes in Flavonoid Components, Free Radical Scavenging Activities and Metabolism-Related Gene Expressions during Fruit Development in Chinese Dwarf Cherry (Prunus humilis)

Temporal changes in total flavonoid content (TFC), composition, free radical scavenging activity and metabolism-related gene expression of three Prunus humilis cultivars with distinctively different fruit colors were investigated in this study. The highest fruit TFCs of all three cultivars were observed at the initial sampling stage (young-fruit stage, YFS), which then declined gradually until fruit ripening. The dark-red-fruited cultivar ‘Jinou 1’ had the highest TFC, followed by the yellow-red-fruited cultivar ‘Nongda 3’ and the yellow-fruited cultivar ‘Nongda 5’. Thirteen flavonoid compounds were found in the three cultivars by using high-performance liquid chromatography (HPLC), and the content of most flavonoid compounds gradually decreased throughout the fruit-ripening process, with the exception of cyanidin-3-O-glucoside (C3G). C3G, as the main anthocyanin in P. humilis fruits, increased drastically during the fruit-coloring process of cultivars ‘Jinou 1’ and ‘Nongda 3’, while it was not detected in the developing fruits of cultivar ‘Nongda 5’. The antioxidant activity assay (DPPH, FRAP and ABTS) revealed that fruits of all three cultivars at YFS also had the highest antioxidant activities, and cultivar ‘Jinou 1’ had the highest antioxidant activities. Correlation analysis revealed that the antioxidant activities were significantly positively correlated with the TFCs and contents of the main compounds such as catechin, proanthocyanidin B1 and phloretin-2′,4-O-diglucoside (p < 0.01). Moreover, gene expression analysis showed that the flavonoid biosynthetic genes had different expression patterns in the three cultivars. The expression levels of ChCHS, ChCHI, ChF3H, ChDFR, ChLDOX and ChUFGT increased gradually with fruit ripening in cultivar ‘Jinou 1’, while all flavonoid-related genes in cultivar ‘Nongda 5’ decreased gradually during fruit development. The results from our study could significantly contribute to the deeper understanding of flavonoid accumulation mechanisms in P. humilis fruits and also help facilitate the targeted cultivar development and the utilization as a functional food of this fruit species.
Identifying the most distinctive characteristics of a good solution for non-Euclidean CVRP using statistical learning model

A capacitated vehicle routing problem (CVRP) is a well-known NP-hard combinatorial optimization. Therefore, heuristics are the common methods used to search for a good solution. The algorithms will perform better if characteristics of good solutions of the problem are known. There was a research study in the characteristics of Euclidean CVRP solutions and the knowledge was later applied in a metaheuristic. � That study becomes our motivation to study the characteristics of non-Euclidean CVRP solutions. To that end, we considered the solutions of non-Euclidean CVRP in the new Euclidean space with the same or higher dimensions using multi-dimensional scaling in which the characteristics of the solutions can be defined under Euclidean properties. � In addition, the statistical learning models were employed to identify the most distinctive characteristic which yields the highest accuracy of prediction of a good solution in the new space. Moreover, decision rules were also determined for interpreting characteristics of good and bad solutions of non-Euclidean CVRP.
Optimal Bridge Retrofitting Selection for Seismic Risk Management Using Genetic Algorithms and Neural Network–Based Surrogate Models

This study uses genetic algorithms as part of an optimization framework to directly minimize the expected impacts of road network disruption triggered by seismic events. This minimization is achieved by selecting an optimal set of bridges to retrofit to decrease their probability of being unavailable after an earthquake. We propose a genetic algorithm that outstrips other retrofitting techniques, such as ranking bridges by vulnerability or traffic importance. The proposed framework is demonstrated using the San Francisco Road Network as a testbed. This example shows that bridges selected by genetic algorithms are structurally vulnerable groups of bridges that act as corridors in the network. Additionally, this study evaluates and recommends domain reduction techniques and hyperparameter calibrations that can decrease the computational costs of this approach.
Feasibility, accuracy and acceptability of self-sampled human papillomavirus testing using careHPV in Cambodia: a cross-sectional study

Objective Self-sampled human papillomavirus (HPV) testing is a potential option for cervical cancer screening, but research is scarce in Cambodia. We evaluated the feasibility, accuracy, and acceptability of self-sampled HPV testing using careHPV. Methods A cross-sectional study including women aged 20–49 years attending 2 national hospitals in the capital city was conducted. Women underwent both self-sampling and clinician-sampling of specimens, and were then asked to complete an acceptability questionnaire. The paired samples were analyzed for high-risk HPV by careHPV and genotyped by polymerase chain reaction (PCR). Results A total of 375 women were eligible for inclusion. Based on PCR, 78.9% were negative for HPV in both self and clinician-samples, 9.9% had a complete HPV type match, and 6.1% had all HPV types in clinician-samples also detected in self-samples. In 5.1%, one or more HPV types identified in the clinician-samples were missed in self-samples. When using careHPV, the overall agreement between the 2 sampling methods was 95.7% (95% confidence interval [CI]=95.8–95.6) with good concordance (κ=0.66, 95% CI=0.56–0.76). Nearly 90% of the women preferred clinician-sampling over self-sampling, citing greater comfort, ease, and speed. Conclusion Self-sampled HPV testing using careHPV could be an option for cervical cancer screening in Cambodia; however, it requires periodic quality control of handling procedures. In addition, women’s health education regarding the accuracy of self-sampled HPV testing and the importance of follow-up in cases of positive results is needed.
The influence of lemongrass essential oil addition into heat-cured acrylic resin against Candida al-bicans adhesion

Background: For decades, the use of naturally accessible materials in treating human disease has been widespread. The goal of this study was to determine the anti-fungal effectiveness /of the lemongrass essential oil (LGEO) versus Candida albicans (C. albicans) adhesion to polymethylmethacrylate (PMMA) materials. Material and methods: LGEO's anti-fungal activity was tested against C. albicans adhesion using the following concentration of LGEO in PMMA monomer (2.5 vol. %, 5 vol. % LGEO) selected from the pilot study as the best two effective concentrations. A total of 40 specimens were fabricated for the candida adherence test and were subdivided into four equal groups: negative control 0 vol. % addition, experimental with 2.5 vol. % and 5 vol. % of LGEO addition and positive control with 1.4 wt. % nystatin addition. The sterile PMMA specimens were incubated at room temperature for 1 hr in sterile tubes with a sabouraud dextrose broth (SDA) in which a small amount of the yeast was isolated and suspended; under the inverted light microscope, the examination was done. The data were evaluated using a one-way ANOVA test, which showed a significant result at p< 0.05. Results: The findings of the C. albicans adherence test exposed a considerable reduction in the number of C. albicans cells adhering to PMMA after adding 2.5 vol. % and 5 vol. % LGEO compared to specimens from the negative control and positive control groups at p< 0.05. Conclusion: Adding LGEO into a heat-cure acrylic material can result in a denture base material with anti-fungal properties versus C. albicans microorganisms. The experimental group 5 vol. % LGEO additive showed the best anti-fungal activity
Driving Sustainable Change: The Power of Supportive Leadership and Organizational Citizenship Behavior in Fostering Environmental Responsibility

Change and environmental trends are enormously influencing the globe. Businesses, societies, and people are all attempting to do their part to safeguard the environment. This study examines the impact of supportive leadership on organizational citizenship behavior for the environment (OCBE) and the mediating effect of psychological empowerment and affective commitment. The survey method was utilized. Data were gathered from 362 employees of the banking and pharmaceutical sectors for the present research. This research employed AMOS-SEM to analyze data and test the formulated hypotheses. The empirical results established that supportive leadership significantly influences workers’ OCBE. The results further corroborate that psychological empowerment and affective commitment mediate between supportive leadership and organizational citizenship behavior for the environment. These findings have vital implications for managers and enterprises that seek to increase their sustainability and organizational citizenship behavior for the environment. This research highlights the significant role of supportive leadership in stimulating psychological empowerment and affective commitment, which in turn affect organizational citizenship behavior for the environment. The present research broadens our understanding of leadership style and its influence on OCBE. The theoretical and managerial implications of organizational environmental sustainability and future research prospects are highlighted.
Ekstraksi Minyak Kulit Jeruk dengan Metode Distilasi, Pengepresan dan Leaching

Minyak atsiri adalah senyawa yang mudah menguap yang tidak larut dalam air. Minyak atsiri merupakan ekstrak alami dari tanaman, baik yang berasal dari daun, bunga, kayu, biji-bijian, ataupun kulit buah. Salah satu jenis minyak atsiri yang dapat diproduksi di Indonesia adalah minyak kulit jeruk. Mengingat bahwa jeruk merupakan salah satu buah-buahan tropis andalan yang dihasilkan di Indonesia dan banyaknya industri minuman yang menggunakan buah jeruk sebagai bahan baku, maka limbah jeruk yang dihasilkan jumlahnya cukup banyak. Dalam penelitian ini dipelajari tentang produksi minyak kulit jeruk dengan berbagai macam metode untuk menghasilkan minyak kulit jeruk dengan kualitas yang baik dan yield yang paling tinggi. Tujuan dari peneliitan ini adalah mempelajari kualitas dan yield minyak kulit jeruk yang dihasilkan dari metode distilasi, pengepresan, dan leaching. Penelitian dilakukan dengan 3 metode yaitu distilasi, pengepresan, dan leaching. Untuk tahap pengepresan, variasi yang dilakukan adalah variasi tekanan yang berkisar dari 2.000 sampai 7.000 psia. Untuk tahap leaching variasi yang dilakukan adalah volume pelarut yaitu berkisar dari 200 sampai 500 mL untuk tiap 100 gram kulit jeruk. Dari hasil penelitian didapat yield minyak kulit jeruk terbesar adalah dengan metode leaching dengan volume solvent 500 mL/100 gram kulit jeruk, dan kualitas terbaik adalah dengan metode distilasi.
Mathematical modeling of the mechanical response of coupled inner-ear hair cells with opposite polarity

Hair cells are specialized receptors that detect mechanical forces in the auditory and vestibular systems of vertebrates. In vivo�hair-cell bundles are typically anchored to an overlying structure which provides mechanical coupling between neighboring hair cells. Cooperativity between hair bundles has been previously proposed to have strong effects on signal detection. �While the coupling of hair cells with the same polarity as those in the auditory organs has been extensively studied, the dynamics of hair cells with opposite polarity in the vestibular system and the inner ear of lizards remain unexplored. In this study, we aim to investigate the dynamics of two hair cells arranged with opposite polarity under a coupling spring using a mathematical model previously proposed to describe hair bundle motility. We focused on three scenarios: spontaneous dynamics, responses to sinusoidal force stimulation, and responses to step force stimulation. Through our analyses, we showed that the coupling force applied to each hair cell by the coupling element served as an additional force that modulated the individual cell's dynamics. Notably, when coupled with opposite polarity, the coupling force counteracted the applied constant force, which affected the hair cell's operating point. Under sinusoidal force stimulation, the coupling force oscillated at twice the frequency of the driving force. This oscillatory force could affect the response of the coupled hair bundle at the driving frequency, leading to reduced responses at high force amplitudes and frequencies below the resonance frequency. This phenomenon could improve the hair cell's compressive nonlinearity and frequency selectivity. Furthermore, we observed that the coupling force increased the responses to positive step forces while decreasing responses to negative forces. Our study contributes to the understanding of coupled hair-bundle dynamics which could play important roles in the signal detections by the vestibular systems and inner ear of lizards.
Adaptive matrix multiplication for various degree of sparsity using tensorflow

Matrix multiplication is a fundamental operation used in many problems, and many matrix multiplication algorithms are proposed for many computing environments. TensorFlow is a machine learning platform with many mathematic library functions including matrix multiplication. TensorFlow provides two methods, tf.matmul and tf. sparse_matmul, for matrix multiplication. It is suggested that tf.matmul should be used for dense matrices, and tf. sparse_matmul should be used for sparse matrices. In this work, an approach is proposed to improve the efficiency of matrix multiplication in TensorFlow. The proposed approach divides each matrix into four submatrices, and chooses either tf.matmul or tf. sparse_matmul for the multiplication of each pair of submatrices, based on the density of the submatrices. We found that it is faster than both tf.matmul and tf. sparse_matmul for input matrices that have uneven distribution of non-zero values. For other inputs, it is almost as fast as the faster one between tf.matmul and tf. sparse_matmul. However, this approach can only be used for CPUs because tf. sparse_matmul is supported only on CPUs but not GPUs.
Structurally Stable Astigmatic Vortex Beams with Super-High Orbital Angular Momentum (ABCD Matrix Approach)

We have demonstrated efficiency of employing the ABCD matrix approach to transform higher-order structured Laguerre–Gaussian (sLG) beams into structurally stable astigmatic sLG (asLG) beams, highlighting their dynamics at propagating. Radical transformations of the beam structure by a cylindrical lens form not only orbital angular momentum (OAM) fast oscillations and bursts, but also make the asLG beams structurally unstable in propagation through cylindrical and spherical lenses when focusing paraxially. But, if the spherical lens performs a Fourier transform of the asLG beam after a cylindrical lens, the symmetric beam emerges at the lens focal plane with a sharp OAM dip; then, the OAM restores its former astigmatism, becoming structurally stable at the far diffraction domain. By investigating the beam structure at the focal area, we have showed that the OAM sharp dip is associated with nothing less than the process of dividing the OAM into the vortex and astigmatic constitutes predicted by Anan’ev and Bekshaev.
Strong current actions on ferrimagnetic domain walls in the creep regime

HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires publics ou privés. Strong current actions on ferrimagnetic domain walls in the creep regime E Haltz, J. Sampaio, R. Weil, Y. Dumont, A. Mougin