Miracle-dz/UniFAR-FTUs huggingface dataset:
Graph‐based subterranean exploration path planning using aerial and legged robots

Autonomous exploration of subterranean environments remains a major challenge for robotic systems. In response, this paper contributes a novel graph‐based subterranean exploration path planning method that is attuned to key topological properties of subterranean settings, such as large‐scale tunnel‐like networks and complex multibranched topologies. Designed both for aerial and legged robots, the proposed method is structured around a bifurcated local‐ and global‐planner architecture. The local planner utilizes a rapidly exploring random graph to reliably and efficiently identify paths that optimize an exploration gain within a local subspace, while simultaneously avoiding obstacles, respecting applicable traversability constraints and honoring dynamic limitations of the robots. Reflecting the fact that multibranched and tunnel‐like networks of underground environments can often lead to dead‐ends and accounting for the robot endurance, the global planning layer works in conjunction with the local planner to incrementally build a sparse global graph and is engaged when the system must be repositioned to a previously identified frontier of the exploration space, or commanded to return‐to‐home. The designed planner is detailed with respect to its computational complexity and compared against state‐of‐the‐art approaches. Emphasizing field experimentation, the method is evaluated within multiple real‐life deployments using aerial robots and the ANYmal legged system inside both long‐wall and room‐and‐pillar underground mines in the United States and in Switzerland, as well as inside an underground bunker. The presented results further include missions conducted within the Defense Advanced Research Projects Agency (DARPA) Subterranean Challenge, a relevant competition on underground exploration.
Bacteriophages as Biocontrol Agents for Flavobacterium psychrophilum Biofilms and Rainbow Trout Infections

Background: Bacteriophages (phages) have been proposed as an alternative to antibiotics and surface disinfectants for treatment of Flavobacterium psychrophilum biofilms and fish infections in aquaculture settings. The aim of the study was to estimate the minimal phage:host ratio (PHR) required for the control of in vitro biofilm formation and mortalities caused by F. psychrophilum in experimentally infected fish. Materials and Methods: F. psychrophilum cells in different stages of biofilm formation were exposed to the lytic phage FPSV-D22 at different PHRs. Results: Our results show that an initial PHR of 0.01 is sufficient for more than an 80% inhibition of attachment and colonization, and disruption of maturated F. psychrophilum biofilms, whereas greater ratios resulted in almost complete interruption of the different biofilm stages. Interestingly, a similar response was observed in a phage therapy trial with live rainbow trout (Oncorhynchus mykiss), where treatment of F. psychrophilum-infected fish by injection of serial bacteriophage doses resulted in significantly (***p ≤ 0.001) higher survival already at a PHR of 0.02. Conclusions: These results indicate that phages have the potential to be effective for control and treatment of F. psychrophilum infections in fish farms even when applied in concentrations lower than previously expected.
Cowanin, a Cytotoxic Xanthone from Asam Kandis (Garcinia cowa, Roxb.) Reduced Cell Migration and Induced Cell Cycle Arrest on T47D Human Cancer Cell

This study aims to investigate and evaluate the mechanism action of cowanin, a cytotoxic xanthone isolated from ethanolic extract of the stem bark of asam kandis ( Garcinia cowa Roxb). This compound was isolated after successive column and radial chromatography to give a yellow needless crystal, m.p. 121-124 o C. Based on ultraviolet, infrared, mass and nuclear magnetic resonance spectroscopic data and comparison with those of the literature, this compound was elucidated as cowanin. Since it had activity against T47D human breast cancer cell lines, further investigation of its mechanism activity was performed to explore the effects of cowanin on cell viability, migration of cells, and the cell cycle activities against T47D breast cancer cells. Viability of cell was carried out by using 3-(4,5-dimethylthiazol-2-yl)-2,5-diphenyltetrazolium bromide (MTT) assay, migration of cells by scratch migration assay, and the cell cycle analysis by flow cytometry method. As a result of this investigation, it can be seen that cowanin could inhibited T47D cells' growth at concentration 0.1, 1, 10, and 100 µg/ml at 48 hours with the IC 50 value of 11.11 µg/ml. Cowanin exhibited inhibiting the cell migration T47D cells at concentration 11.1 μg/mL treated cells at 48 h was 0.32 fold compared to control, suggesting the potent inhibitory effect of it. Cowanin is caused in significant detention of T47D cells at the G0-G1 phase of the cell cycle. Based on these data, it can be concluded that cowanin is a potential candidate to be developed as an anticancer drug.
Evaluation de l’effet de la poudre des feuilles de Moringa oleifera sur les parasites gastrointestinaux du lapin domestique (Oryctolagus cuniculus) au Bénin

In sub-Saharan Africa and Benin, little work has been devoted to the treatment of rabbit diseases. For improving the rabbit’s treatment whose importance is considerable in this region, special attention is given to Moringa oleifera for its nutritional and pharmacological properties. Phytochemical and anthelmintic studies were therefore undertaken to this effect. Phytochemical screening and quantitative analysis revealed the presence and the high content of large groups of chemical compounds with anthelmintic activity such as total phenols (384.09mgGAE/50g), flavonoids (0.019mgRE/50g), tannins (9.60.10 European 6 mgCE/50g), saponins, and quinone derivatives. The formulation of three granulated rations containing incorporation 5, 10 and 15% of powdered leaves of Moringa oleifera has been tested on gastrointestinal nematodes of rabbits. The parasitological study by quantitative coproscopy has shown that the granulated food ration with incorporation of 15% leaf powder of Moringa oleifera is effective on gastrointestinal parasites up to 97.58 % and 97.57% on oocysts of coccidia, 97.74 and 99.04 on helminth eggs of rabbits calculated by the POWER and COLES methods. This study has justified the traditional use of Moringa oleifera leaves for the treatment of gastrointestinal parasite of rabbits.
Preparation of MgAl2O4-Coated Al2O3np and Migration of Ceramic Nanoparticles during Ultrasonic Processing of Aluminum Matrix Composites

Composites reinforced by nano-ceramic particles typically result in the formation of clustering and a weak interface. The spatial distribution of particles and the wetting behavior remarkably affect the targeted properties. Here, a surface modification combined spatial control solution was demonstrated to prepare nanocomposites with homogeneous micro-structures. Poly-crystalline nano-MgAl2O4 particles that possess a good crystallographic orientation relationship with Al were coated on the surface of ceramic particles, and they were macro- and then microscopically dispersed in the melt by ultrasonic vibration with variable frequency. The reason this is that the acoustic pressure distributed in the Al melt can induce the acoustic streaming and cavitation. A model for calculating equilibrium particle migration velocity was proposed, based on which the distribution of particles could be controlled by adjusting the solidification rate and the size of particle clustering. The experimental results were validated by the prediction of the model. In addition, it was found that the relationship of the maximum radius angle with the contact angle was ω0=180°−θ, and ultrasonic vibration could provide enough energy for the later stage entering of particles to overcome the energy barrier.
Kocaeli İlinde Çalışan Lisanslı Taekwondocuların Saldırganlık ve Mutluluk Düzeylerinin Belirlenmesi

Amac Kocaeli Ilinde lisansli calisan Taekwondo sporcularinin saldirganlik ve mutluluk duzeylerini belirlemektir. Etik onay alindiktan sonra Kocaeli ilinde bulunan kuluplerde lisansli calisan 254 Taekwondo sporcusuna arastirma hakkinda bilgi verildikten sonra gonullu katilmak isteyenlere; Argyle ve arkadaslari tarafindan gelistirilen Oxford Mutluluk Olcegi ile Buss ve Perry tarafindan gelistirilen Saldirganlik Olcegi uygulanmistir. Veriler normal dagilim gosterdigi icin parametrik testlerden ikili kume karsilastirmalari icin bagimsiz gruplar icin t testi, ikiden fazla kume karsilastirmalari icin varyans analizi (One way Anova) ve Pearson Korelasyon testi kullanilmistir. Sonucta;; yas, cinsiyet ve anne egitim durumu acisindan saldirganlik ve mutluluk duzeylerinde bir fark bulunmamistir. Mutluluk duzeyi sadece spor yapma amacina gore anlamli bulunurken; saldirganlik seviyesi; egitim duzeyine gore tum alt boyutlarda; ekonomik duruma gore sozel saldirganlik; baba egitim durumuna gore fiziksel ve sozel saldirganlik alt boyutlarinda anlamli farkliliklar bulunmustur. Ayrica mutluluk artarken saldirganligin azaldigi gorulmustur. Spor yapma amaci yasam kalitesine katki saglamak ve sevdigi isi yapmak oldugunda mutlulugun arttigi, bir sey kazanmaya yonelik sonuc odakli calisildiginda da mutlulugun azaldigi gorulmustur. Ayrica babalarinin egitim seviyeleri dustukce fiziksel ve sozel saldirganligin; gelir durumu orta ve iyi seviyede olanlarda ise sozel saldirganligin arttigi bulunmustur.
ALTERNATİF YATIRIM ARAÇLARI İLE BİTCOİN FİYATLARI ARASINDAKİ İLİŞKİNİN YAPAY SİNİR AĞI İLE TAHMİNİ

Tahmin teknikleri ve modelleri, dogru karar alma ve yatirim asamasinda kisiler ve kuruluslar icin son derece onemlidir. Tahminin dogrulugu basarili kararlar alinmasini saglar ve yatirimcilarin fayda maksimizasyonuna ulasmasina imkân tanir. Bu calismada, kripto para turlerinden en yaygin olarak kullanilan Bitcoin fiyatlarinin yapay sinir aglari yontemi ile tahmin edilmesi amaclanmistir. Girdi degiskenler olarak; Dow-Jones, S&P500, Nasdaq100, Eurostoxx Endeksleri, Isvicre Frangi, Ingiliz Sterlini, Euro, Altin, Gumus yatirim araclari alinmistir. 2013-2018 tarihleri arasinda gunluk kapanis fiyatlari verileri kullanilmistir. Calismada geri beslemeli yapay sinir agi modeli kullanilmistir. 2019 Ocak ayi tahmini yapilarak model test edilmistir ve modelin tahmin dogrulugu R 2 degeri %99 basari ile gerceklesmistir.
Dye adsorption, desorption, and distribution in mesoporous TiO2 films, and its effects on recombination losses in dye sensitized solar cells

Recombination rates through bare, partially dyed, and fully dyed mesoporous TiO2 films have been measured, as well as the penetration kinetics of dye molecules into the films. We give evidence that homogeneous partial dye coverage cannot be achieved by short dyeing times or dilute dye solutions, due to the high sticking coefficient of the dyes on TiO2. A new method has been developed which gives homogenous partial dye coverage, based on full dyeing followed by partial desorption. Using this method we show that dyeing with N719, C101, or TG6 dyes provides only minor blocking of recombination, relative to bare TiO2. We also show that recombination rates across the bare TiO2 surface can vary strongly after treatment with mild base, acid, or a Lewis acid/base buffer. We find these treatments can change the density of trap states as well as the conduction band edge potential. We present a method, based on charge extraction, that corrects for changes in trap density when estimating shifts in the conduction band potential. The combined results suggest that the industrially favored fast dyeing procedures can lead to higher recombination rates, especially in the absence of the typical TiCl4 treatment, and under low (e.g. indoor) light levels. The results also explain some anomalous features seen in studies of exciton and hole conduction along partial coverage dye layers which were previously assumed to be homogenous.
Fractal rectenna for collecting energy in the Wi-Fi range

Evaluation of the results of modeling a fractal rectenna by the finite element method, with consideration of the central 5 GHz. Directional diagrams are plotted. The simulation results are compared with a sample of a real antenna created on the basis of calculations. The possibility of using the developed fractal rectenna for collecting electromagnetic energy of new generation Wi-Fi networks is shown.
Lipid composition and antioxidant activities of some underused wild plants seeds from Burundi

Abstract Fatty acids, phytosterols, total phenolic content, and radical‐scavenging activity were determined in seed oils of 12 wild plants from natural ecosystems in Burundi. Among the 13 fatty acids identified, palmitic, oleic, linoleic, and stearic acids were found predominant throughout all oils, except Parinari curatellifolia oil which showed a high amount of erucic acid (58.41% ± 0.77). The most dominant sterol was found to be β‐sitosterol in all oils and was followed by stigmasterol in 8 kinds of oils and campesterol in 3 kinds of oils. The highest total phenolic contents were observed in P. curatellifolia, Tephrosia vogelii, and Uvaria angolensis oils, with, respectively, 2.16 ± 0.26, 1.43 ± 0.33, and 1.27 ± 0.39 mg gallic acid equivalent/g oil. Some of these oils exhibited a higher ability to scavenge DPPH radicals. The antioxidant capacity of 8 species ranged from 1.18 to 18.08 mmol acid ascorbic equivalent/g oil. Based on these findings, such oils could be used in different domains such as food, cosmetic, pharmaceutical, and lipochemistry.
How biased media generate support for the ruling authorities: Causal mediation analysis of evidence from Russia

If a medium has a monopoly in covering political news and daily distorts the news in favor of the ruling autocrat, how large will the persuasion effect be? Through which channels will such persuasion operate most? Working with a representative sample of the Russian population, I use a causal mediation analysis to explore whether (1) frequency of exposure and/or (2) reliance on biased reporting mediate the link between how people voted for incumbent elites and how they evaluate these elites in the present. Perceiving explicitly biased information as credible transmits a large and robust effect from voting to evaluation, while frequent exposure to this information produces an insignificant mediating effect. Another important finding is that the effect of perceived news credibility overrides the effect of previous electoral support: Accepting state propaganda as credible information converts people into regime supporters even if they did not support these elites at previous election.
Obozitoak in vitro heltzeko teknika (IVM): enbrioiaren garapen egokirako erronka

Oocyte’s maturation is a very important process in fertility because it is necessary for subsequent fertilization. In addition, maturation process influences the embryo, since the quality of the developing embryo is directly related to the maturity and the quality of the oocyte. This growth culminates just prior to ovulation during oocyte maturation. Adequate nuclear and cytoplasmic changes associated with maturation process of oocytes are fundamental for correct ovulation and subsequent fertilization. One of the main challenges is to determine the molecular pathways that regulate that maturation process. In addition, to better understanding female reproductive physiology, we could help to optimize the reproductive techniques by modulating the process of oocyte in vitro maturation, through the IVM technique. This technique consists in turning immature oocytes to mature exogenously in a culture media supplemented with different molecules to promote maturation. The most important advantage of IVM method is that could be the only hope or, at least, an alternative for a high number of patients unable to tolerate high doses of gonadotropins. Among the ARTs, the in vitro maturation oocytes (IVM) is less developed than other techniques, but its implementation would entail a qualitative advance.
Pressure-induced molecular assembly of hydrogen-bonded polymers

Controlling the noncovalent bondings such as electrostatic interaction, van der Waals force and hydrogen bond, is the key factor to generate molecular assembly. We show that pressure is one of the most intensive variables for controlling these intermolecular forces and producing assembled structure. Macrogel and nanoparticles of hydrogen-bonded polymers were simply obtained through an ultrahigh-pressure process. The morphology of the obtained assembly depends on concentration and various conditions of the pressurization. These results indicate that the ultrahigh-pressure induces inter/intra-hydrogen bond, which is strong enough to maintain microassemblies such as gels and particles. This methodology leads to the molecular design of pressure-induced molecular assembly, and nonharmful processes for molecular separation and drug development. © 2008 Wiley Periodicals, Inc. J Polym Sci Part B: Polym Phys 46: 743–750, 2008
Performance features enhancements and trade off study of NOx emission of diesel engine by using ternary blends of karanja - cotton seed biodiesel -diesel.

In this work, Karanja and cotton seed biodiesel were blended with the mineral diesel fuel. The effect of addition of the two biodiesels at different proportion were investigated for the performance and oxides of nitrogen emission of the diesel engine. All the blends exabits the higher break thermal efficiency than that of the diesel. Trade- off analysis was done with respect to efficiency, fuel consumption and oxides of nitrogen to reflect the emission pattern.
Outbreak and management of Salmonella Enteritidis infection in 2-week-old Lohmann brown pullets

Avian salmonellosis has huge economic and public health impact. In this manuscript, a case of S. Enteritidis and its management within Jos Metropolis was reported. Fiftythree carcasses of 2-weeks old pullets were presented at the poultry and fish clinic of the Veterinary Teaching Hospital, University of Jos, Nigeria for investigation. There was persistent mortality despite 5 days medication with 20% Enrofloxacin (Floxinor®, Shijiazhuang Guanghua Pharmaceutical co. Ltd, Hebei, China). Cumulative mortality within 14 days was 203 birds in a flock of 4,000. Necropsy was done and harvested were subjected to microbial analysis for bacterial isolation, identification and antibiotic susceptibility test while portions of these organs were preserved in 10% formalin for histopathology. Necropsy findings were empty crops, hepatitis with petechial hemorrhages, nephritis, congested and consolidated lungs, peritonitis, congested spleens and mild enteritis. Histologically, there were vacuolation and necrosis of renal tubular epithelia cells and interstitial infiltration with heterophils. Severe disorganization of hepatic cords, infiltration with inflammatory cells and mild necrosis of hepatocytes were observed, while there was severe congestion and diffuse hemorrhages in the lungs. Cellular infiltration within the lamina propria of small intestine with stunting and blunting of the villi were observed. Organism isolated on MacConkey agar was identified as Salmonella Enteritidis. Antibiotic susceptibility test showed the organism to be most susceptible to Streptomycin, which was administered via drinking water at dosage of 40mg/kg with good recovery of the flock. It was concluded that the occurrence of Salmonella Enteritidis infection in this flock might be from the hatchery or via ingestion of contaminated feed and water. Day old chicks should be screened for Salmonella infection and strict biosecurity should be instituted on poultry farms. Keywords: Mortality, Necrosis, Pullets, Salmonella Enteritidis, streptomycin
Speed regulation in vector control systems of synchronous motor drive

This article examines speed control systems in AC electric motors based on a permanent magnet synchronous motor. Special focus will be on the methods of parametric synthesis of controllers for controlling the speed of a synchronous motor with permanent magnets by deviation. The developed automatic engine control system should provide fixation, processing, robustness to signal, and parametric disturbances. The article also presents the results of digital modelling of a vector control system for a permanent-magnet synchronous motor and comparative analysis of these methods for synthesizing an engine control system based on the results.
HOW GOING TO COURT AFFECTS THE ATTITUDES TOWARDS COURTS

The aim of this paper was to explore how different types of experiences with courts shape attitudes towards the courts and the justice system, through a secondary analysis of data collected in 2006-2007 using a nationally representative sample of adult urban population of Turkey. Findings indicate that the attitudes of citizens with prior court experience are less positive than attitudes of those with no such experience. It is argued that a negative attitude towards the courts is the outcome of having an experience with the courts, rather than the other way around. It was found that satisfaction with the court experience positively influenced the attitudes towards courts for those who experienced court as civil and criminal plaintiffs, as well as observers and witnesses, while satisfaction with outcomes had same effect for criminal defendants. It is argued that attitudes towards courts are shaped by two components: The stable base which reflects a general and abstract trust in institutions, and a flexible component which is shaped by the nature of the experience and interaction that one has with the courts.
Fundamental Applications of Mathematics in Agriculture and Cultural Heritage in Daily Life of Melanau Tellian, Mukah, Sarawak: An Ethnomathematics Review

_____________________________________________________________________________________________________ Mathematics has been measured as a neutral subject and not related to any culture or a society. Learning Mathematics in the modern education system nowadays is an adoption from many parts of the world. This ethnomathematics review is to discover culture and mathematics related to the daily life people of Melanau Tellian in Mukah Sarawak. This study uses a qualitative approach, ethnographic methods and principal such as observation, interview, collecting data and documentation from the fieldwork. The findings showed that the foundation of the Melanau people in Tellian Mukah is essentially based on numbers or Mathematics. It shows in the Melanau’s belief system, social system, traditional games, architecture and in daily practice and tradition. There is a line of relationship between mathematics and culture in this study which can be an initial point for further preservation of Melanau Tellian cultural heritage.
Stress-optical analysis of fluids

SummaryRecent advances in Rheology have emphasized the necessity of measuring the stress distribution in flowing viscoelastic fluids which is qualitatively different from the one in Newtonian liquids. The use of flow-birefringence for this purpose has advantages. The concept of the stress-optical coefficient, well known in the stress optical analysis of solids, can be also applied to fluid flow. The extinction angle determines the “recoverable shear strain,s” a parameter in the flow of viscoelastic fluids. This would mean that mechanical and optical flow phenomena are caused primarily by stresses, not by the rate of shear. Experimental results presented confirm this postulate.