Miracle-dz/UniFAR-FTUs huggingface dataset:
Dual-circle self-localization for soccer robots with omnidirectional vision

A self-localization method entitled dual-circle self-localization (DCSL) for mobile robots in a soccer robot game field is proposed in this article. To evaluate the performance of the proposed localization method, an omnidirectional vision device is installed on top of the robot to capture images for recognizing objects in the environment via a hybrid scanning method. Three reliable objects recognized are then chosen as landmarks to calculate the position of the robot in the game field via the proposed DCSL based on relative positions between the robot and landmarks in the omnidirectional images. Since only simple geometric manipulations are required for the DCSL algorithm, localization efficiency can be significantly improved while maintaining a relatively smaller mean error in comparison to Monte Carlo localization techniques as demonstrated in both simulation results and practical experiments in this article.
Responding to COVID-19 with integrative health and sheltering models for persons experiencing homelessness in Southern Ontario, Canada: protocol for a qualitative study exploring implementation and sustainability

Introduction COVID-19 has disproportionately impacted persons experiencing homelessness in Canada, who are at an increased risk of infection and severe outcomes. In response to the pandemic, several regions have adopted programmes that aim to address the intersecting nature of health and social challenges faced by persons facing homelessness. These programmes adopted during the pandemic may contribute to broader health and social impacts beyond limiting COVID-19 transmission, but the processes involved in developing and implementing these types of programmes and their sustainability after the pandemic are unknown. Our overall goal is to understand the processes of developing and implementing integrative health and sheltering initiatives in Ontario during COVID-19, as well as their sustainability post-pandemic. Methods and analysis This study will use a multiple case study design—two cases over 1 year—enabling us to investigate how integrative health and sheltering approaches have been implemented in two mid-sized cities in Ontario, Canada. Each case will offer a unique narrative; through cross-case analysis, the cases will highlight programme operations, successes and challenges. Data will be collected using semi-structured interviews with programme staff and managers, and document analysis. Project partners will be brought together to further explore and interpret findings, along with co-creating a sustainability action plan and policy documents. Ethics and dissemination Ethics clearance was obtained through the Western University Research Ethics Board and the University of Waterloo Office of Research Ethics. Findings will be disseminated through publications, conference presentations and lay summary reports.
Advection-dominated Accretion Flow around a Kerr Black Hole

The effects of the spin of central black holes on the structure and the spectrum of optically thin, advection-dominated accretion flows (ADAFs) around rotating supermassive black holes are investigated. The global two-temperature structure of ADAFs in the Kerr metric is obtained numerically by solving the full relativistic hydrodynamical equations including the energy equations for the ions and for the electrons. The advected fraction of the dissipated energy is not treated as a parameter and the detailed radiation processes are calculated self-consistently. We find that the two-temperature structure of ADAFs is accurately calculated by setting the advected fraction of the dissipated energy to be unity. We find that the particles are hotter when a is positive than when a = 0, while the particles are cooler when a is negative than when a = 0. The changes in a have less effect on the electron temperature than on the ion temperature. The spectra of the emitted photons are also calculated by solving the equations of the general relativistic optics. The entire part of the spectra is enhanced when a is positive, while the entire part of the spectra is reduced when a is negative, in comparison with the case of a = 0. The spectrum of the synchrotron photons and the Comptonized synchrotron photons are modified more largely by the black hole spin and the inclination angle than the spectrum of the bremsstrahlung photons. The effect of the inclination angle on the spectra increases as the value of a increases. In the case of a = -0.95, the inclination has little effect on the shape of the spectrum. The spectrum of Sgr A* from the radio band to the X-ray band is nicely reproduced with the model of an ADAF around a high-spin black hole. The existence of a high-spin black hole at the Galactic center is not ruled out by the ADAF model.
Inclusive Communicative Strategies in an ESP Classroom: A Case Study at a Ukrainian University

This paper describes the experience of Ukrainian educators in the promotion of social inclusion for internally displaced students. Attention is paid to the analysis of key notions and concepts of social inclusion in education, and the challenges associated with the implementation of inclusion strategies. This paper investigates the advantages and disadvantages of inclusive communication strategies implementation in ESP courses. The choice justified by its communicative orientation and focus on social interaction. One hundred and ten internally displaced students and fifteen ESP teachers participated in the study. The study presents the results gained from interviews with Ukrainian students and ESP teachers from Igor Sikorsky Kyiv Polytechnic Institute. A comparative analysis revealed the positive dynamics in internally displaced students’ well-being after the implementation of inclusive communicative strategies. The findings support the idea that the well-being of internally displaced students can be improved with the implementation of individualization, diversification, and differentiation integrated into the ESP classroom.
Dynamically Stable Super Gaussian Solitons in Semiconductor Doped Glass Fibers

In this paper we have investigated the propagation properties of chirped super Gaussian soliton pulses through semiconductor doped glass fibers which is a dispersive medium with cubic quintic nonlinearity. Using variational principle, the evolution equations of the soliton parameters such as amplitude, temporal width, position of centre, chirp etc. have been derived. The dynamics of these parameters have been analysed. Employing linear stability analysis we have shown that super Gaussian solitons are stable in semiconductor doped glass fibers.
Seven-color Vilnius photometry and classification of stars in the region of the North Ecliptic Pole

The results of photometry of 948 stars down to V = 16.2 mag in the Vilnius seven-color system at the North Ecliptic Pole (NEP) are presented. Among them, 293 stars have all seven magnitudes, 331 stars have no ultraviolet magnitudes and 324 stars have no ultraviolet and violet magnitudes. Photometric data are used to classify about 500 stars in spectral and luminosity classes. For the remaining stars one-dimensional spectral classes are given. Some stars are suspected as new F and G subdwarfs and metal-deficient giants. The dependence of interstellar extinction on distance in the direction of NEP is discussed. The average extinction in the area for stars with d > 500 pc is found to be AV = 0.10 ± 0.01 mag, with the standard deviation 0.14 mag. The results of photometry and classification can be used to supplement the catalog of Gaia standard stars near the Ecliptic poles. To facilitate this, we present transformation of the Vilnius magnitudes to the magnitudes of the SDSS and Gaia systems.
Numerical Simulation of Magnetic Droplet Dynamics in a Rotating Field

Abstract Dynamics and hysteresis of an elongated droplet under the action of a rotating magnetic field is considered for mathematical modelling. The shape of droplet is found by regularization of the ill-posed initial–boundary value problem for nonlinear partial differential equation (PDE). It is shown that two methods of the regularization – introduction of small viscous bending torques and construction of monotonous continuous functions are equivalent. Their connection with the regularization of the ill-posed reverse problems for the parabolic equation of heat conduction is remarked. Spatial discretization is carried out by the finite difference scheme (FDS). Time evolution of numerical solutions is obtained using method of lines for solving a large system of ordinary differential equations (ODE).
Position before submission? Techniques and tactics in competitive no-gi Brazilian jiu-jitsu

Brazilian jiu-jitsu (BJJ) is a grappling-based combat sport performed either with a traditional uniform, the gi, or without, known as no-gi. Differences between the two when it comes to gripping, pace, and ruleset can affect match characteristics, which has implications for how athletes approach competition. The present study investigated time-motion and technical-tactical characteristics in matches from official no-gi submission-only BJJ tournaments. The analysis included 26 regional and 26 international athletes from the light-feather to super-heavy weight class. Match characteristics did not differ between competition levels, style (guard or pass player), or weight (p > 0.05). The duration of positional dominance was similar between competition levels and styles (p > 0.05), but significantly different between winners and losers (p < 0.05; effect size (ES) = 0.39). Positional dominance also correlated with upper-body submissions (r = 0.50; p < 0.05). Interestingly, positional dominance appeared inconsequential in matches determined by lower-body submissions. In fact, athletes winning by lower-body submissions, in most cases a heel hook, exerted no positional control prior to their victory. The high- to low-intensity ratio was 1:2 and 1:1, for regional and international athletes, respectively. The standing to ground time ratio was 1:2 for both groups. In addition to the novel competition characteristics of competitive no-gi BJJ, these findings indicate that there are strategical discrepancies that precede distinctly different submission holds.
Chromospherically active stars. IX - HD 33798 = V390 Auirigae - A lithium-rich rapidly rotating single giant

Results are presented of spectroscopic observations of HD 33798 obtained to determine if this star is a short-period binary and to examine its evolutionary status. Analysis of 40 radial velocities indicates no periodic velocity variations, suggesting that the star is single, so its rapid rotation is highly unusual. This rotation is inconsistent with the rotational brake hypothesis advanced by Gray (1989). It is proposed that HD 33798 is in a post-main-sequence phase of evolution. Its space motion is similar to FK Com, suggesting that it is a coalesced binary in the process of spinning down. Scenarios are presented to explain its large lithium abundance. A version in which material is transferred from a rapidly rotating core is suggested as the most likely.
Multiple-timescales analysis of ideal poloidal Alfvén waves

Time-dependent analytic solutions for the evolution of undriven ideal standing poloidal Alfven waves are considered in a box model magnetosphere. Assuming an azimuthal variation of exp iλy, where λ is large, we use the asymptotic method of multiple timescales to determine analytic solutions over the long timescale σ defined by σ = et, where e = 1/λ. Our asymptotic poloidal Alfven wave solutions (with λ k x , k z ) accurately reproduce the undriven ideal wave polarization rotation from poloidal to toroidal in time determined numerically by Mann and Wright [1995]. Using the same asymptotic method, we further consider the evolution of radially localized large λ Alfven waves. We find that undriven waves having k x , λ k z , oscillating in a radially inhomogeneous plasma remain incompressible to leading order and experience similar asymptotically toroidal behavior as t → ∞. Consequently, undriven poloidal Alfven waves and, in general, transversally localized large λ ideal Alfven wave disturbances have a finite lifetime before they evolve into purely decoupled toroidal Alfven waves. This polarization rotation may be apparent in waves driven by the drift-bounce resonance mechanism in situations where the wave evolution occurs more rapidly than ionospheric damping. This can be possible on the dayside of the magnetosphere, with the evolution more likely to be observable toward the end of a temporal wave packet when the driving mechanism is no longer operative.
Lutein-Fortified Plant-Based Egg Analogs Designed to Improve Eye Health: Formation, Characterization, In Vitro Digestion, and Bioaccessibility

Lutein is a carotenoid found in real eggs that has been reported to have beneficial effects on eye health by reducing the risk of age-related macular degeneration. However, lutein is not often included in plant based (PB) egg analogs. It would, therefore, be advantageous to fortify PB eggs with this health-promoting carotenoid. Moreover, lutein is a natural pigment with a bright red to yellowish color depending on its concentration and environment. It can, therefore, also be used as a plant-based pigment to mimic the desirable appearance of egg yolk. Some of the main challenges to using lutein as a nutraceutical and pigment in PB foods are its poor water-solubility, chemical stability, and bioavailability. In this study, we encapsulated lutein in oil-in-water emulsions, which were then utilized to formulate whole egg analogs. Ribulose-1,5-bisphosphate carboxylase/oxygenase (RuBisCO) protein isolated from a sustainable plant-based source (duckweed) was used to mimic the thermally irreversible heat-set gelling properties of globular egg proteins, with the aim of obtaining a similar cookability and texture as real eggs. The lutein content (80 mg/100 g) of the egg analogs was designed to be at a level where there should be health benefits. The protein (12.5 wt.%) and oil (10 wt.%) contents of the egg analogs were selected to match those of real egg. The effects of oil droplet size and oil type on the bioaccessibility of the encapsulated lutein were examined using the INFOGEST in vitro digestion model. For the emulsions formulated with long chain triglycerides (LCTs, corn oil), lutein bioaccessibility significantly increased when the initial droplet diameter decreased from around 10 to 0.3 μm, which was attributed to more rapid and complete digestion of the lipid phase for smaller droplets. For medium chain triglycerides (MCTs), however, no impact of droplet size on lutein bioaccessibility was observed. A high lutein bioaccessibility (around 80%) could be obtained for both LCTs and MCTs emulsions containing small oil droplets. Thus, both types of oil can be good carriers for lutein. In summary, we have shown that lutein-fortified PB eggs with good digestibility and bioaccessibility can be created, which may play an important role in ensuring the health of those adopting a more plant-based diet.
Nonlinear perturbation of the vortex shedding from a circular cylinder

The influence of finite-amplitude perturbations on the unsteady vortex shedding past an impulsively started circular cylinder is investigated by means of a numerical model. The computational scheme is a mixed spectral–finite analytic technique, in which the fast-Fourier-transform algorithm is used for the evaluation of the nonlinear terms in the two-dimensional time-dependent Navier–Stokes equations in their stream function–vorticity transport form (the Helmholtz formulation) at Re = 1000. The vortex shedding is promoted by imposing at t = 0 a small rotational field to the initially irrotational flow. Attention is focused on the strength of the perturbation vortex, which affects the way in which the vortex shedding develops in time. The results of the simulations are presented by means of computer-generated drawings of absolute streamlines, relative streamlines and vorticity fields; it appears that, when the strength of the initial perturbation assumes the minimum value that has been tested, the vortex shedding phenomenon develops in a way different from that resulting from other numerical experiments of the same kind.
Time-averaged concentration estimation of uraemic toxins with different removal kinetics: a novel approach based on intradialytic spent dialysate measurements

ABSTRACT Background Kt/Vurea is the most used marker to estimate dialysis adequacy; however, it does not reflect the removal of many other uraemic toxins, and a new approach is needed. We have assessed the feasibility of estimating intradialytic serum time-averaged concentration (TAC) of various uraemic toxins from their spent dialysate concentrations that can be estimated non-invasively online with optical methods. Methods Serum and spent dialysate levels and total removed solute (TRS) of urea, uric acid (UA), indoxyl sulphate (IS) and β2-microglobulin (β2M) were evaluated with laboratory methods during 312 haemodialysis sessions in 78 patients with four different dialysis treatment settings. TAC was calculated from serum concentrations and evaluated from TRS and logarithmic mean concentrations of spent dialysate (MlnD). Results Mean (± standard deviation) intradialytic serum TAC values of urea, UA, β2M and IS were 10.4 ± 3.8 mmol/L, 191.6 ± 48.1 µmol/L, 13.3 ± 4.3 mg/L and 82.9 ± 43.3 µmol/L, respectively. These serum TAC values were similar and highly correlated with those estimated from TRS [10.5 ± 3.6 mmol/L (R2 = 0.92), 191.5 ± 42.8 µmol/L (R2 = 0.79), 13.0 ± 3.2 mg/L (R2 = 0.59) and 82.7 ± 40.0 µmol/L (R2 = 0.85)] and from MlnD [10.7 ± 3.7 mmol/L (R2 = 0.92), 191.6 ± 43.8 µmol/L (R2 = 0.80), 12.9 ± 3.2 mg/L (R2 = 0.63) and 82.2 ± 38.6 µmol/L (R2 = 0.84)], respectively. Conclusions Intradialytic serum TAC of different uraemic toxins can be estimated non-invasively from their concentration in spent dialysate. This sets the stage for TAC estimation from online optical monitoring of spent dialysate concentrations of diverse solutes and for further optimization of estimation models for each uraemic toxin.
Government Fiscal Health, Family Planning and Poverty Rate in Nigeria

Nigeria. Previous studies failed to link health expenditure appropriately to family planning and poverty alleviation in Nigeria. This study addresses this theoretical gap by employing the vector error correction mechanism (VECM) in analysing the interrelationship between government fiscal health, family planning and poverty rate in Nigeria by employing time series data from1977 to 2019. The data were tested for stationarity and found to be statistically significant at 0.05 level of significance. The result of the VECM showed that GDPP, SGHE, POVR and MMORR significantly explain 44.49% variation in family planning, while the ECM coefficient indicates a speed of adjustment of 5.372%; and it is statistically significant. The FEVD of family planning (FP) indicated that the variability of the SGHE was also rising between 0.193528% in the second period to 2.811% in the tenth period. The variability in POVR accounted for 1.008% of the variation in FP in the second period. The variation in poverty rate fell relatively over the forecast horizon such that at the tenth period it was 1.888%. The study concluded that the government’s fiscal health expenditure has a positive but insignificant impact on FP, but a negative impact on POVR and MMORR in Nigeria. It is recommended that the government should increase its fiscal health expenditure significantly. This can be achieved via an increase in the budgetary allocation for the health sector.
Comparative Investigation of Raw and Processed Radix Polygoni Multiflori on the Treatment of Vascular Dementia by Liquid Chromatograph−Mass Spectrometry Based Metabolomic Approach

Radix Polygoni Multiflori (PM) is a well−known nootropic used in traditional Chinese medicine (TCM). Considering the efficacy and application discrepancy between raw (RPM) and processed PM (PPM), the similarities and differences between them in the treatment of vascular dementia (VaD) is intriguing. In this study, a VaD rat model was constructed by 2−vessel occlusion (2−VO). During 28 days of treatment, plasma was collected on days 7, 14, 21, and 28 after the start of dosing and the metabolic profile was analyzed by HPLC−MS/MS−based metabolomics. The Morris Water Maze Test, hematoxylin–eosin and Nissl staining, and biochemical analysis were used to assess cognitive function, pathogenic alterations and oxidative stress, respectively. RPM and PPM effectivelyreducedthe 2VO−induced cognitive impairment and mitigated histological alterations in hippocampus tissue. The 2−VO model significantly elevated MDA level and decreased SOD activity and GSH level, indicating severe oxidative stress, which could also be attenuated by RPM and PPM treatment. RPM outperformed PPM in decreasing MDA levels while PPM outperformed RPM in increasing GSH levels. Differential metabolites were subjected to Metabolite Set Enrichment Analysis (MSEA) and genes corresponding to proteins having interactions with metabolites were further annotated with Gene Ontology (GO). Both RPM and PPM ameliorated VaD−relevant vitamin B6 metabolism, pentose phosphate pathways, and taurine and hypotaurine metabolism. In addition, the metabolism of cysteine and methionine was regulated only by RPM, and riboflavin metabolism was modulated only by PPM. The results suggested that raw and processed PM had comparable efficacy in the treatment of VaD but also with some mechanistic differenece.
A Novel Defect Segmentation for Pulse Infrared Images Based on Improved Fuzzy C-Means Algorithm With Weighted Distance

Pulsed infrared nondestructive testing (NDT) technology can effectively identify defects in engineering materials or structures. However, the original infrared images have the problems of low signal-to-noise ratio (SNR) and blurred edges. A novel defect segmentation method for pulsed infrared images based on improved fuzzy C-means algorithm with weighted distance is proposed. First, the original infrared images are denoised by wavelet transform. Second, an improved fuzzy C-means algorithm based on weighted distance (WDFCM) is proposed to cluster the infrared images. Afterward, the maximum between-cluster variance method (OTSU) is used to automatically select the thresholds and the binarization is performed to extract defect features. The Sobel edge detection operator is used to completely extract the structural properties of the defect regions. Finally, an experimental platform for pulsed infrared thermal imaging was built with two kinds of materials: flexible pipes and steel structures. The method proposed in this article was used for image segmentation subsequently. The results verify that the performance of the proposed method is optimal. The accuracy of defect detection can reach 98.95%, which is 16.82% higher than the original method.