Miracle-dz/UniFAR-FTUs huggingface dataset:
Telelocomotion—Remotely Operated Legged Robots

Teleoperated systems enable human control of robotic proxies and are particularly amenable to inaccessible environments unsuitable for autonomy. Examples include emergency response, underwater manipulation, and robot assisted minimally invasive surgery. However, teleoperation architectures have been predominantly employed in manipulation tasks, and are thus only useful when the robot is within reach of the task. This work introduces the idea of extending teleoperation to enable online human remote control of legged robots, or telelocomotion, to traverse challenging terrain. Traversing unpredictable terrain remains a challenge for autonomous legged locomotion, as demonstrated by robots commonly falling in high-profile robotics contests. Telelocomotion can reduce the risk of mission failure by leveraging the high-level understanding of human operators to command in real-time the gaits of legged robots. In this work, a haptic telelocomotion interface was developed. Two within-user studies validate the proof-of-concept interface: (i) The first compared basic interfaces with the haptic interface for control of a simulated hexapedal robot in various levels of traversal complexity; (ii) the second presents a physical implementation and investigated the efficacy of the proposed haptic virtual fixtures. Results are promising to the use of haptic feedback for telelocomotion for complex traversal tasks.
ANÁLISE DA INTERFACE ENTRE O DIREITO URBANÍSTICO E O MEIO AMBIENTE PARA O DESENVOLVIMENTO DE CORREDORES ECOLÓGICOS URBANOS NO PLANEJAMENTO URBANÍSTICO

Os Corredores Ecológicos são conexões que modificam a paisagem natural ao reconstituir o fluxo da diversidade biológica entre ecossistemas naturais, sendo o principal instrumento para a conectividade da paisagem fragmentada no meio urbano e para a conservação da biodiversidade urbana. O presente artigo tem por objetivo analisar a interface do Direito Urbanístico com o meio ambiente a partir do estudo dos Corredores Ecológicos no meio urbano. Para tanto, a partir do estudo da legislação nacional, buscar-se-á demonstrar que o desenvolvimento dos Corredores Ecológicos Urbanos se mostra como uma técnica ambientalmente sustentável para que o planejamento urbano concretize objetivos urbanísticos e ambientais.
THE EFFICACY OF CLONIDINE IN THE PHARMACOLOGICAL MANAGEMENT OF ALCOHOL WITHDRAWAL SYNDROME: PRELIMINARY RESULTS

Alcohol dependence and harmful use represent the most prevalent addictive disorder worldwide. Alcohol withdrawal syndrome is considered a life-threatening condition by inducing severe physiological imbalances. Pharmacological management of alcohol withdrawal syndrome is very complex and challenging, often involving a long duration in getting remission. Our ongoing study aimed to analyse the efficacy of clonidine (an alpha-2-agonist) for improving alcohol withdrawal syndrome quantified by the mean change of The Clinical Institute Withdrawal Assessment of Alcohol Scale, Revised (CIWA-Ar) scores. Of 30 patients with alcohol withdrawal syndrome recruited so far, 11 (36.7%) benefited from clonidine treatment. Blood pressure and other physiological signs were periodically monitored. Although at the beginning of the treatment there were no differences between the mean CIWA-Ar scores (t = 0.352, p = 0.599), after 5 days the difference became significant in favour of those treated with clonidine (t = 3.147, p = 0.004). Clonidine may provide additional benefit in managing alcohol withdrawal by offering a different mechanism of action for targeting withdrawal symptoms.
SERS aptasensor detection of Salmonella typhimurium using a magnetic gold nanoparticle and gold nanoparticle based sandwich structure

A detection method for Salmonella typhimurium (S. typhimurium) using a surface-enhanced Raman scattering (SERS)-based sandwich structure was investigated. The biosensor was built on the basis of nanoparticle enhanced Raman intensity and the specific recognition of aptamers. Aptamer-functionalized magnetic gold nanoparticles (MGNPs) were used as the capture probe, while the aptamer and mercaptobenzoic acid (4-MBA) functionalized gold nanoparticles (GNPs) were used as the Raman signal probe. When S. typhimurium is added in the reaction system, the capture probe will capture the target bacteria through the specific binding effect of the aptamer. And then the signal probe will be connected to the bacteria also by the effect of the aptamer to form a sandwich-like detection structure. 4-MBA exhibits a specific peak at 1582.71 cm−1. Under the optimal conditions, the SERS intensity exhibits a good linear relationship (y = 548.3039 + 783.9842x, R2 = 0.9968) with the concentration of S. typhimurium ranging from 10 cfu mL−1 to 107 cfu mL−1. The LOD is 5 cfu mL−1. This method is simple and rapid, results in high sensitivity and specificity, and can be used to detect actual samples.
Dynamic balancing of RECOVER robotic system

This paper presents a novel robotic system for the lower limb rehabilitation of post-stroke survivors. The model presented in this paper aims to demonstrate an innovative solution that helps in the mobilization of the hip and knee flexion/extension and the ankle plantar flexion/extension and eversion/inversion motions. The paper focuses on achieving the dynamic balancing of the hip-knee module, which due to high accelerations peak values and large size is prone to a certain degree of instability, leading to shaking forces and unwanted vibration that might reduce the safety feelings of the patient. A dynamically balanced mechanism will reduce noise, wear and fatigue and allow higher payload capacity.
Heat capacity study of BaFe2As2: Effects of annealing

Heat-capacity, X-ray diffraction, and resistivity measurements on a high-quality BaFe$_{2}$As$_{2}$ sample show an evolution of the magneto-structural transition with successive annealing periods. After a 30-day anneal the resistivity in the (ab) plane decreases by more than an order of magnitude, to 12 $\mu\Omega$cm, with a residual resistance ratio $\sim$36; the heat-capacity anomaly at the transition sharpens, to an overall width of less than K, and shifts from 135.4 to 140.2 K. The heat-capacity anomaly in both the as-grown sample and after the 30-day anneal shows a hysteresis of $\sim$0.15 K, and is unchanged in a magnetic field $\mu_{0}$H = 14 T. The X-ray and heat-capacity data combined suggest that there is a first order jump in the structural order parameter. The entropy of the transition is reported.
Fermatean Fuzzy Normalised Bonferroni Mean Operator in Multi Criteria Decision Making on Selection of Electric Bike

Making decision on alternatives considering the attributes of uncertain circumstances is arduous in our daily life. The Fermatean fuzzy set is a dynamic tool that has a wide scope for acceptance of association and non- association values of alternatives for attributes. The Bonferroni mean is applied sizably in multicriteria decision making because it expresses the interrelationship between attributes that many of the aggregated operators fail to achieve. Here we figure on the Fermatean fuzzy normalised weighted Bonferroni mean operator. Their features and properties are also inquested. One of the best e-bikes among four brands is selected through the Fermatean fuzzy normalised weighted Bonferroni mean operator, subsequently the findings are correlated with the other existing multi criteria decision making methods.
Landscape Characteristics and Ecological Risk Assessment Based on Multi-Scenario Simulations: A Case Study of Yancheng Coastal Wetland, China

Carrying out coastal wetland landscape simulations and current and future ecological risk assessments is conducive to formulating policies for coastal wetland landscape planning and promoting the coordinated development of the social economy and ecological environment. This study used the Cellular Automaton (CA)-Markov model to simulate the landscape data of the study area under different scenarios in 2021 and 2025, and built an ecological risk assessment (ERS) index model to analyze the differences of spatio-temporal characteristics of ecological risks. The results showed that: (1) The test accuracy of the CA–Markov model was 0.9562 after passing through the consistency test. The spatial distribution data of landscapes under current utilization scenarios (CUSs), natural development scenarios (NDSs), and ecological protection scenarios (EPSs) were gained through simulations. (2) During 1991–2025, the landscape types of Yancheng coastal wetlands undertake complicated transfers and have vast transfer regions. Under CUSs and NDSs, a large number of natural wetlands are transferred to artificial wetlands. Under EPSs, the area of artificial wetlands declines and artificial wetlands are mainly transferred to natural wetlands. (3) The ecological risk of Yancheng Coastal Wetland increases, accompanied with significant spatial heterogeneity, which is manifested as low in the north area and high in the south area, and there exist some differences between sea areas and land areas. Ecological risk levels transfer violently.
Quality indexes and internal atmosphere of packaged fresh-cut pears (abate fetel and kaiser varieties)

The paper reports the results of a study aimed at investigating the evolution of the internal atmosphere and the influence of a browning inhibitor treatment on the chemical, physical and sensory parameters of fresh-cut pears (Abate Fetel and Kaiser varieties) stored at 3±1°C for 15 days. The fresh-cut pears maintained respiration activity over the storage time; the rate of respiration was influenced slightly by the browning inhibitor dipping. The browning inhibitor treatment delayed the browning and also influenced the quality parameters. The expected shelf-life of fresh-cut pears should be in the range 8-12 days at 3°±1°C; but the highest level of quality was maintained for up to 4-8 days of storage.
Oxydation hydrothermale de déchets organiques liquides

Les modes de consommation actuels entrainent une production croissante des volumes de dechets a traiter. Dans le cas des dechets organiques toxiques liquides, le procede d’oxydation hydrothermale utilise l'eau supercritique pour obtenir des taux de destruction tres eleves, en garantissant un parfait confinement de la reaction. Les resultats sont tres encourageants et les effluents en sortie de procede sont directement compatibles avec l'environnement. Toutefois, il reste encore des efforts de developpement pour garantir un fonctionnement sans probleme avec des dechets contenant des halogenures en grande concentration.
Gut microbiota: friend or foe

Comprising of trillions of various bacteria, protozoan, fungi and viruses, the gut microbiota live in human body as a super complex ecosystem mostly in gastro intestinal tract (70%). Apart from GI tract they also inhabit skin, mouth and sexual organs as an essential ecological community of commensal, symbiotic or even pathogenic relationship. These microbiota interplay with bodily immune, endocrinal, metabolic and nervous system and produces various pathological changes responsible for disease etiology. These microbiota play a major role in digestion and absorption of macro molecules, maturation of immune system, protection of gut and behavioural development of an individual. In gut disorders like inflammatory bowel disease (IBD) or irritable bowel syndrome (IBS) the altered brain axis is responsible for disorders like depression, anxiety, schizoaffective disorders, autistic spectrum disorders, multiple sclerosis and parkinson’s disease.
Preparation and Characterization of Cu_2ZnSnS_4 Nanoparticles and Films

Cu2ZnSnS4(CZTS) semiconductor is a promising materials for thin film solar cells.Cu2ZnSnS4(CZTS) nanoparticles were prepared via a hot-injection processing under high-purity N2 atmosphere,using Cu(acac)2,Zn(OAc)2,SnCl2 2H2O,sulfur powder as the precursors,oleylamine(OLA) as the solvent and the capping molecules.The CZTS thin films were deposited on glass substrates by drop-casting from the Sol of CZTS nanocrystals in toluene.The influence of reaction temperature on the phase structure and morphology of nanoparticles was studied.The samples were investigated by powder X-ray diffraction(XRD),Raman spectroscope,transmission electron microscope(TEM),scanning electron microscope(SEM) and UV-Vis-NIR spectroscope.The results indicated that the CZTS nanoparticles with 10 nm in size,good dispersion and an optical band gap of 1.5 eV was synthesized under the optimum reaction temperature of 260℃.
Inception Adaptive Gradient L2 Regularized Learning Rate CNN for Strawberry Leaf disease Detection

Biochemical or environmental factors will impact strawberry plants, posing a serious warning to the crop's output and efficiency that increases the likelihood of strawberry diseases. Traditional identification techniques, however, perform poorly in real-time and have a high percentage of judgement errors. It is clear that in the present day of increasing strawberries production and quality requirements, the traditional techniques for strawberry disease recognition, which primarily rely on individual perspective and untrained eye monitoring, cannot meet the expectations of people for strawberry disease identification. A broader framework needs to be established in order to precisely recognize strawberry diseases and provide suitable treatment alternatives. Accordingly, utilizing the Strawberry Disease Dataset from KAGGLE, this research suggests employing the Inception Adaptive Gradient L2 Regularized Learning (IAGLR) CNN model to recognize strawberry calcium shortage leaf disease. The proposed IAGLR model was developed using convolutional layers of 3 × 3-dimension, maximum pooling layer, dropout layer of 1 × 1 dimension, and dense layer for each 3 × 3 convolution. Then, it was trained using the adaptive gradient optimizer and L2 regularized gradient descent learning rates. An Inception network, an Adaptive Gradient optimizer with 0.5 dropout, and weight decay of Gradient Descent L2 regularisation were used to build the IAGLR. In order to evaluate the performance of the proposed IAGLR model, the dataset for Strawberry illness was divided into training and testing data. The training data was mapped to both the IAGLR model and other CNN models. A Gtx Geforce Tesla V100 Nvidia graphics card server was used to programme Python, with a batch size of 64 and 40 training epochs. When compared to current CNN models, implementation outcomes reveal that the suggested IAGLR model exhibits FScore of 97.77%, precision of 97.62%, accuracy of 97.77% and recall of 97.25%.
Ethical Climate, Job Satisfaction, and Organizational Commitment of Hotel Employees

Ethical climate in the workplace has a relationship with job satisfaction and organizational commitment; thus, influencing organizational productivity. This descriptive-correlational study confirmed the relationship between ethical climate, job satisfaction, and hotel employees’ organizational commitment. Using stratified random sampling proportionate allocation, 152 employees from two hotels with the same owner and management were identified as respondents. An adapted-modified survey questionnaire was used to collect the data. Mean, standard deviation, and Pearson r were used to analyze the data. The employees in the standard class hotels perceived an ethical work environment. They were slightly satisfied and committed to their job. Their perceived ethical climate showed a significant relationship with job satisfaction and organizational commitment. The management may explore various ways to improve the ethical climate, job satisfaction, and organizational commitment of employees to attain higher productivity.
TÜKETİCİ ÖZGÜVENİ VE HARCAMA ÖZDENETİMİ İLİŞKİSİNDE HİPEROPİNİN ROLÜ

Çalışmanın amacı tüketici özgüven boyutları ile tüketicilerin harcama özdenetimleri arasındaki ilişkiyi ve hiperopi kavramının bu ilişki içerisindeki rolünü belirlemektir. Tüketici özgüveni, bir bireyin pazarla ilgili kararları ve davranışları konusunda kendini yetenekli ve güvende hissetme seviyesidir. Harcama özdenetimi, kişilerin harcamaya ilişkin düşüncelerini ve kararlarını kendi kendine uygulayacakları standartlara göre izleme ve düzenleme yeteneği olarak tanımlanmaktadır. Hiperopi kavramı ters öz denetim olarak tanımlanmaktadır. Yüksek özdenetime sahip insanların stresli durumlara karşısında davranışsal tepkilerini daha iyi yönetebilecekleri düşünülmektedir. Özgüven ve özdenetim kavramları arasında doğrudan bir ilişki bulunmaktadır. Hiperopi ve yüksek özdenetim kavramları uzun vadeli hedeflere odaklanmaktadır. Tüketici özgüveni ve hiperopi kavramları arasındaki ilişkiye literatürde yeterince yer verilmemiştir. Ancak kavramlara dair tanımlar incelendiğinde özgüven ve hiperopi kavramları arasında negatif bir ilişki bulunduğu söylenebilir. Araştırmanın örnek kütlesini 698 kişi oluşturmaktadır. Verilerin toplanmasında kolayda örnekleme yöntemi kullanılmış ve yüz yüze anket uygulanmıştır. Verilerin toplanması 2019 Eylül-Kasım ayları arasında gerçekleştirilmiştir. Örnek kütle içinde yer alan katılımcılar Türkiye genelinde toplam 95 farklı üniversitede öğrencidir. Tüketici özgüveni, tüketici özdenetimi ve hiperopi değişkenleri arasındaki ilişkiler belirlenirken korelasyon ve regresyon analizi kullanılmıştır. Özgüven ve özdenetim kavramları arasındaki ilişki çalışmalara konu olmuş olsa da her iki kavram üzerinde hiperopinin rolü yeterince incelenmemiştir. Araştırma sonucunda hiperopinin tüketici özgüveni ve özdenetimi ile pozitif yönde bir ilişkiye sahip olduğu belirlenmiştir. Ancak özdenetim üzerindeki etkisi özgüvene kıyasla daha yüksek olduğu gerçekleştirilen analizlerden elde edilen bulgular arasındadır.
Outcome of treatment with modified Ponseti technique in atypical congenital talipes equinovarus

Background: The atypical congenital talipes equinovarus (CTEV) patients tend to have a different clinical foot presentation with small great toe, deep transverse crease of sole, tender swollen dorsum of foot and rigid equinus.Methods: This study was conducted in GMC Jammu to evaluate efficacy of modified Ponseti technique in atypical CTEV patients. It was a prospective study and the patient data was collected during OPD visits of patients from August, 2018 to June, 2020. Twenty-one patients were diagnosed as atypical CTEV and were managed with modification of conventional Ponseti technique and percutaneous release of achilles tendon was done in all patients. Three patients were lost to follow-up. Hence, the final number of study participants was 18 (n=18). Results: With modified Ponseti technique, functional correction was achieved in all the patients in our study. The average number of casts required was 8 (range; 5-10). At final follow-up visit, all feet are functionally corrected. Only one case of relapse was seen.Conclusions: Early diagnosis and treatment with modified Ponseti technique is an effective and easy method of treatment in atypical CTEV.
Distributed Computational Framework for Large-Scale Stochastic Convex Optimization

This paper presents a distributed computational framework for stochastic convex optimization problems using the so-called scenario approach. Such a problem arises, for example, in a large-scale network of interconnected linear systems with local and common uncertainties. Due to the large number of required scenarios to approximate the stochasticity of these problems, the stochastic optimization involves formulating a large-scale scenario program, which is in general computationally demanding. We present two novel ideas in this paper to address this issue. We first develop a technique to decompose the large-scale scenario program into distributed scenario programs that exchange a certain number of scenarios with each other to compute local decisions using the alternating direction method of multipliers (ADMM). We show the exactness of the decomposition with a-priori probabilistic guarantees for the desired level of constraint fulfillment for both local and common uncertainty sources. As our second contribution, we develop a so-called soft communication scheme based on a set parametrization technique together with the notion of probabilistically reliable sets to reduce the required communication between the subproblems. We show how to incorporate the probabilistic reliability notion into existing results and provide new guarantees for the desired level of constraint violations. Two different simulation studies of two types of interconnected network, namely dynamically coupled and coupling constraints, are presented to illustrate advantages of the proposed distributed framework.
Monolayer Group IV–VI Monochalcogenides: Low-Dimensional Materials for Photocatalytic Water Splitting

Harvesting solar energy for artificial photosynthesis is an emerging area in alternative energy research. In the present article, we have investigated the photocatalytic properties of single-layer group IV–VI monochalcogenides, MXs (M = Ge, Si, Sn and X = S, Se) based on first-principles electronic structure calculations. Our dispersion corrected DFT calculations show that these materials have moderate cohesive energies (<120 meV/atom), which are indicative of favorable isolation of MX monolayers by mechanical, sonicated, or liquid-phase exfoliation. The calculated band gaps using hybrid density functional method (HSE06) reveal that all of the MXs show larger band gaps than the minimum energy required for the water splitting reaction (1.23 eV). Considering band edge alignments, all the MXs other than SiS have an acceptable alignment of conduction band minima but not the valence band maxima. We have evaluated the overpotentials for both oxygen and hydrogen evolution reactions. Interestingly, considering co.
A Power Side-Channel Attack on Flash ADC

In this paper, a monotonic power side-channel attack (PSA) is proposed to analyze the security vulnerabilities of flash analog-to-digital converters (ADC), where the digital output of a flash ADC is determined by characterizing the monotonic relationship between the traces of the power consumed and the applied input signals. A novel technique that leverages clock phase division is proposed to secure the power side channel information of a 4-bit flash ADC. The proposed technique adds randomness to decorrelate the input signal from the given power trace as the execution phase of each comparator depends on a thermometer code computed from the previous seven clock cycles. The monotonic PSA is executed on both a secured and unsecured ADC, with results indicating 1.9 bits of information leakage from an unprotected ADC and no data leakage from a protected ADC as the bit-wise accuracy is approximately 50% when secured. The monotonic PSA is more effective at attacking a flash ADC architecture than either a convolutional neural network based PSA or a correlation template PSA. The secured ADC core occupies approximately 2% more area than a non-secure ADC in a 65 nm process, and provides a sampling frequency of up to 500 MHz at a supply voltage of 1.2 V.