Miracle-dz/UniFAR-FTUs huggingface dataset:
Actuator design for a high-performance legged biped robot

Humanoid robots in popular culture feature superhuman strength, speed, and agility, but the real-world versions still fall short of their human models. One well-known robot beginning to close that gap, however, is Boston Dynamics’s ATLAS [1]. Good sensors and controls no doubt help, but arguably the largest factor in its performance is the sheer power of its hydraulic actuators. The high leg speeds and forces available permit fast and robust responses to external disturbances, such as those arising from a floor strewn with broken chunks of concrete [2]. However, ATLAS achieves this performance only via the infusion of large amounts of energy in the form of high-pressure hydraulic fluid, orders of magnitude more energy than would be needed by a human performing the same task. Besides being wasteful, this has the effect of tethering ATLAS to its energy source and putting severe limits on its useful range. Inefficiency is fundamental to conventional hydraulic actuators and controls, since their pumps must output full pressure and flow even if only a little is required by a robot. Efforts to address this problem with multiple system pressures, variable-displacement pumps, pressure accumulators, etc., result in rapid increases in system cost, weight, and complexity. Achieving acceptable efficiency in a human-scale robot, therefore, will require a different approach to actuators. Research at many institutions is under way to develop robot “muscles,” actuators based on fibers and structures that contract when activated. However, we are not aware of any of these that have yet achieved useful levels of speed, force, and efficiency in a lightweight package. Therefore, we have focused our efforts on electromechanical actuators, which rival hydraulics in their powerto-weight ratios. In addition, digital switching controls for electrical power circuits allow these actuators to be quite efficient across their full range of output levels, and the hardware to do this is becoming steadily smaller, lighter, and less expensive. As we develop these electric actuators for our open-source bipedal robot platform, we aim to achieve as much as possible of the raw power and responsiveness of ATLAS’s hydraulics, while maintaining high efficiency across a wide range of power levels.
Improving Student Understanding of Operations Management Techniques Through a Rolling Reinforcement Strategy

Abstract In this article, the author describes a rolling reinforcement strategy designed to improve student understanding of several quantitative techniques in an operations management (OM) course. Techniques investigated include multiproduct break-even analysis, critical path analysis, and statistical process control. In the rolling reinforcement strategy, reinforcements are planned and provided on days different from those of the original exposure to the problem category. Approximately 49% of the students in the OM course scored full points when the instructor used two rolling reinforcements, whereas only 22% of the students scored full points when one rolling reinforcement was used.
بررسی رابطهی بین خستگی و کیفیت خواب باکیفیت زندگی بهداشتی در افراد مبتلا به بیماری MS

ا زا فده ی سررب هعلاطم ن ی هطبار ي ب ی گتسخ ن ی ک و ی ف ی ک اب باوخ ت ی ف ی گدنز ت ی هب لاتبم دارفا رد يرامیب MS م ی دشاب . داوم و شور اه : رد هعلاطم ا یی عطقم ی دادعت 217 ب ی رام لاتبم هب ب ی رام ي MS هک هب تروص اپرس یی هب زکرم MS مورا ی ،دندوب هدرک هعجارم ه سرربدروم ی رارق نتفرگ . د زا همانشسرپ MS (MSQoL54) ، ک ی ف ی باوخ ت ) گروبستیپ PSQI) ( گتسخ تدش رازبا و ی (FSS) ا دش هدافتس . ي هتفا اه : رد ا ی ن هعلاطم دادعت 217 ب ی رام دروم لحت ی ل رارق فرگ . ت هطبار رامآ ي وق ي ، تبثم و ینعم راد ي ب ی ن تارمن ک ی ف ی ت گدنز ی مسج ی و ناور ی ، ک ی ف ی ت گدنز ی
Understanding Changes in the Geography of Opportunity : The Case of Santiago , Chile Working Paper WP 18 IB 2

Several pieces of research have been generated aimed at describing the geography of opportunity (GO) in metropolitan areas. However, little attention has been paid to the private and publicsector actions as part of the opportunities that are present in an urban areas as well as forces of urban change. Thus, this research proposes a methodology to measure the GO that not only depicts the set of opportunities individuals find in their place of residence but also encompasses the analysis of the land market and real estate investment and the local government fiscal capacity. This paper offers an analysis of the geography of opportunity of Santiago Metropolitan Area (SMA) and its changes over time at the municipal and neighborhood scale using a multidimensional index compound by three sub-indices aimed at describing the geography of opportunity in a comprehensive way. The three indices generated capture the urban dynamics and urban context to which individuals are exposed to. These indices, both separately and together, allow capturing the set of opportunities that individuals find in their place of residence as well as monitor and compare changes in the GO over time. The results show that the GO in Santiago Metropolitan Region is expanding. The great majority of the municipalities (21 de 34) has experienced positive changes in its GO in the 10 years in this research. Furthermore, the data also showed that the SMA host at least three type of cities. First, a city that shows high persistence in high GO. Second, a city that shows high persistence in low GO. And third, a city that is mutating and changing its GO with different levels of intensity (many of them moving up in the GO index categories, while few moving down) These most dynamic areas are those where the levels of social inclusion show better prospects.
Faces Recognition Based on Features

Now a day, Face recognition system is becoming very essential in different areas. There are different methods available for recognizing faces. The most common method used for it is a feature-based approach of face recognition. A feature-based approach to face recognition is biological method which extracts the salient facial features such as nose, eyes, cheeks, forehead, chin etc. In this approach different visual feature extraction techniques are also used such as color, shape, layout, texture etc. This paper takes a view of feature-based approach used in face recognition. Furthermore this paper also consist the discussion about the accuracy and effectiveness of the feature- based face recognition.
Testing the stationarity and normality of paediatric aspiration signals

Ninety-four aspiration signals were collected with a single-axis accelerometer placed infero-anterior to the thyroid notch from 23 children with Dysphagia. It was found that only 62% of aspiration signals can be considered stationary over short finite time windows. Further, 96% of aspiration signals violated normality to varying degrees. Nonstationarity was attributed to time-varying variance structure while departure from normality was linked to leptokurtic (more peaked than a normal distribution) amplitude distributions. Conventional assumptions of stationarity and normality do not simultaneously hold true for aspiration signals. Implications for automatic detection are mentioned.
Development of lower hybrid current drive actuators for reactor relevant conditions

The high efficiency of lower hybrid current drive (LHCD), η ≡ neILHR0/PLH =∼ 2.5× 1019 AW−1m−2, makes it an attractive non-inductive current drive source for a steady-state tokamak fusion reactor, although unresolved physics and engineering issues must still be addressed. Experiments on Alcator C-Mod and other tokamaks have shown that lower hybrid (LH) waves can be absorbed near the last closed flux surface, rather than the desired mid-radius location, at high density [1]. Experimental and modeling studies at MIT indicate that the deleterious edge absorption is due to weak damping in the multi-pass regime, although other theories point towards prompt absorption in front of the LH antenna.
Differences in ground reaction forces during landing between volleyball spikes

Introduction B and attacks performed repeatedly at high performance lead to serious overuse of the musculoskeletal system of volleyball players [5, 9, 20, 22, 24]. Ferretti et al. [9] reported that a large number of this jumps and the likelihood of losing balance due to deviations in jumping technique are the primary causes of injury in volleyball. The inherent risk of injury in volleyball athletes is a result of the sport’s dynamic and ballistic nature during the jumping-landing sequence [24]. In particular, landing after a block and spike increases the incidence of lower extremity injuries in volleyball players. Maximum values of the ground reaction force (GRF) during the landing phase of volleyball jumps exceed several times athlete’s body weight [1]. The peak GRF during landings may increase the internal loads that may cause injury if not sufficiently distributed or attenuated by the musculoskeletal system [16, 22]. The high impact forces suggest a greater risk of knee injury risk among volleyball players [8, 9, 18]. The deleterious effects of these forces may be compounded for an Abstract Introduction. The peak values of the vertical ground reaction force in the landing phase of attacks suggest a external loads of volleyball player. The high dynamic loads during landing in volleyball jumps may cause lower extremity injuries. Aim of Study. The main purpose of this study was to compare the impact forces between three different volleyball attack techniques. Material and Methods. Twelve female volleyball players (mean±standard deviation: age 22.3±4.2 years, body height 183.0±8.7 cm, body mass 74.4±10.9 kg) participated in the laboratory tests. A force platform was used to measure the ground reaction forces (GRFs) during landing in volleyball spikes. The vertical (v) component of GRF and horizontal (h) components (resultant) of GRFs, buildup index of these forces (vBIF, hBIF) and time to peak GRF (Tv, Th) were analyzed. Results. No significant differences in Tv and Th (from 0.05±0.01 s to 0.06±0.01 s) between the three volleyball jumps were demonstrated (p<0.05). Significant differences in the peak vGRF, hGRF, vBIF and hBIF between the back row attack and front row attack (23.7%, 18.2%, 38.2% and 29.7%, respectively), and between the back row attack and slide attack (21.1%, 27.3%, 28.7% and 26.4%, respectively) were found (p<0.05). The highest values of peak vGRF (3.8±0.3 BW∙m-1), peak hGRF (1.1±0.2 BW∙m-1), vBIF (79.4±14.6 BW∙m-1∙s-1) and hBIF (21.2±7.2 BW∙m-1∙s-1) were obtained during landing in the back row attack (p<0.05). Conclusions. The peak vGRF and vBIF during landing in volleyball spikes ranged: from approximately 3 to 4 BW∙m-1 (vGRF) and from approximately 50 to 80 BW∙m-1∙s-1 (vBIF), and were several times higher than hGRF and hBIF. Increased impact forces in spikes indicate higher external loads during landings and a greater risk of lower extremity injuries in female volleyball players.
On channel equalization in filter bank based multicarrier wireless access systems

We consider filter bank based multicarrier systems in broadband wireless access network applications. Such systems provide better spectral shaping than DFT based OFDM systems for the subchannels, as well as for the overall signal. In the wireless communications applications, the main advantage of such systems is potentially better efficiency because the time-domain guard interval is not needed and the guard-band in the frequency domain can be reduced. However, the channel equalization for such systems is still an open problem. In this paper it is demonstrated that such systems are very sensitive to the nonlinear phase response of the channel. Alternative ways to perform the channel equalization are discussed. An equalization approach is presented based on individual symbol timing and carrier phase recovery for each subcarrier. This approach can be used to evaluate the potential performance benefits of filter bank based multicarrier systems in broadband wireless access.
Evolving a teaching strategy for developing students' consultancy skills through a real-world case study

This Paper addresses the collective skills and knowledge students must acquire to follow a career in consultancy and the means by which these can be meaningfully learned in the course of their studies. We show how students can be encouraged to identify the skills and knowledge they need to complete a mini realworld consultancy task of their own choice, and to reflect upon their experience through different assessment instruments. We then encouraged students to make a personal audit of their own skills and to use the opportunity provided by a real-world case, study to evidence the skills that they perceived were important to them.
FORMULATION AND IMPLEMENTATION OF SOCIAL MEDIA STRATEGY FRAMEWORK : A CASE STUDY OF JORDANIAN GOVERNMENT ORGANIZATION

This study aims to formulate a social media strategy framework that appropriate in government organization that has a low interaction rate with public through their social media accounts. The research methods used was qualitative and quantitative on a government organization which has already use social media however the utilization was still low. The process of data collection was done by interview, observation and documents studies. The social media strategy was formulated using framework developed by Karl Werder combined with SWOT analysis, PEST analysis and 7s model. The strategy priority was determined by using AHP analysis. Three stages of social media framework formulation have been identified and the implementation results suggest that the organization need to prioritize the strategies that have the objective to improve the complaint handling and then followed by the strategies related to engagement and awareness.
Key Agrregate Crypstosystem for Scalable Data Sharing Using Cloud Computing using Clustering

Cryptography is the art and science of achieving security by encoding the message or data to make them unreadable. It is related to the aspects of network security such as privacy, reliability and accessibility of the data. A cryptosystem or cryptographic system is only the authenticated way in which user can access the encrypted data and decrypt it. The authenticated messages are shared between the authorized users. Security in cloud computing is a major concern. There are some cryptosystem techniques introduced in this security. First, Attribute Based Encryption is a public key encryption technique which is used to enable the access control over the encrypted data using qualified attributes. Second, Identity Based Encryption allows for a sender can encrypt a message to an identity without access to a public key certificate. Third, a new public key cryptosystem encrypt a message not only a public key but also under an identifier of the ciphertext
A New Method for Detecting Segmentation Points in Persian Cursive Words

In recent years, online cursive handwriting recognition, has become an interesting field of study as touch screen devices have become more involved in our lives. Due to cursive form of writing and different styles in Arabic-based script, the process of recognizing Persian handwriting is more complicated than many other languages. To reduce the complexity, cursive scripts are divided into smaller parts (containing one letter) in a process called segmentation. Effective identification of segmentation parts has a great impact on the whole recognition process. In this paper, a new method has been proposed for Persian cursive script segmentation based on the language features. Results have shown a 98.9% accuracy in detection of segmentation points.
An Interventional Cohort Study in Dengue Prevalent Area by Using Nilavembu Kudineer and Awareness Programme

Background: Dengue Fever is the most important vector-borne viral disease in tropical and subtropical areas. The Capital of the Kerala state, Thiruvananthapuram district is endemic to Dengue Fever because of the climatic and environmental factors. Aim & Objectives: The aim of the study is to create awareness in Dengue prevalent areas and the objectives are the implementation of preventive measures in selected areas and intervention with Nilavembu Kudineer in cases with clinical manifestation & others (Preventive aspect). Materials & Methods: The Prospective Interventional study in Dengue prevalent area of Thiruvananthapuram District was initiated with the Baseline Pre-interventional Survey to assess the awareness and attitude of population in that area. Then followed by the distribution of Nilavembu Kudineer for the Prevention of Dengue and for the revival of Cases with some clinical manifestation (Post-Dengue Cases also) and creating of awareness in the public by the supply of pamphlets regarding Dengue in Medical Camps. The assessment in Post-Interventional Survey and observational study of clinical manifestations in four point ordinal Scale are subjected to statistical analysis (paired t-test). Results: The Baseline Pre-interventional Survey and awareness programme resulted in increasing the awareness regarding Dengue and its vector control. The strategy was able to bring about a significant change (p<0.01) in the attitude and practice of the people with respect to Dengue prevention and control measures. Moreover the Medical Intervention with Nilavembu Kudineer showed effective reduction in clinical manifestations like fever, malaise, body pain, head ache, cough and joint-pain found to be statistically significant (p<0.05) and the improvement of health status of individuals taken Nilavembu Kudineer in preventive aspect. Conclusion: Public health interventions like the distribution of Nilavembu Kudineer and awareness programmes can impede the outbreak of Dengue like illness in endemic areas.
Providing Security and Consistency as a service in Auditing Cloud

Cloud storage services have become very popular due to their infinite advantages. To provide always-on access, a cloud service provider (CSP) maintains multiple copies for each piece of data on geographically distributed servers. A major disadvantage of using this technique in clouds is that it is very expensive to achieve strong consistency on a worldwide scale. In this system, a novel consistency as a service (CaaS) model is presented, which involves a large data cloud and many small audit clouds. In the CaaS model we are presented in our system, a data cloud is maintained by a CSP. A group of users that participate an audit cloud can verify whether the data cloud provides the promised level of consistency or not. The system proposes a two level auditing architecture, which need a loosely synchronize clock in the audit cloud. Then design algorithms to measure the severity of violations with two metrics: the commonality of violations, and the oldness value of read. Finally, heuristic auditing strategy (HAS) is devised to find out as many violations as possible. Many experiments were performed using a combination of simulations and a real cloud deployment to validate HAS. KeywordsCloud Service Provider (CSP), Consistency as a Service (CaaS), Heuristic Auditing strategy, Service Level Agreement, User Operation Table, Directed Acyclic Graph, Network Time
Using PROLOG for rapid prototyping of telecommunication systems

Rapid prototyping techniques can be used for the incremental system design of large systems and for the tools required to build them-instead of designing the complete system and then going into a lengthy implementation and test phase, the various components of the system can be prototyped and tested within a very short time. In this manner costly faults in the system design are isolated at an early stage in a project and experiments with alternative implementation techniques can be performed before being committed to a particular technology. The work described in the paper builds upon some of the conclusions of Armstrong et. al. (1986), and in particular addresses the problems of a language for prototyping telephony software. The implementation of a prototyping language, prototyping environment and experiences of using this environment are discussed.
ANALYSIS OF SELF-REGULATED LEARNING FROM THE PERSPECTIVE OF SELF-DIDACTIS

As current transformations in the context of Social Web exemplify, navigation emerges as mediasupported, communicative and participative practice. At the same time, educational cultures evolve based on cooperation in informal learning communities. As there is no teacher predefining content and acquisitional processes in these communities, the learner is on his own with regard to being motivated, staying focused, solving learning related problems and evaluating results of his learning process. In this regard, the learner can be conceptualized as a selfdidactic learner (see Iske & Meder, 2011) who is organizing and regulating his learning processes on his own, but in cooperation with others and in interaction with specific environments. The concept of self-didactics is related to the concept of self-regulated learning and located within the discourse on lifelong education (Lengrand, 1972), lifelong learning (Delors, 1998), informal learning (Watkins & Marsick, 1990) and self-directed learning (Dohmen, 1998). Like in these discourses, the perspective of self-didactics implies a shift to increasing freedom of learners and changing demands on learning (and on teaching). In educational and psychological contexts, for instance, this transformation is described and discussed as a transition from teaching to learning; from teacheroriented to learner-oriented instruction; from externally-directed to self-directed learning; from school-based to lifelong learning; from reactive to active learning; from the didactic triangle to learning arrangements (topology) and from formal to informal learning.
Indexing Genomic Data on Hadoop

In the last years Hadoop has been used as a standard backend for big data applications. Its most known application MapReduce provides a powerful parallel programming paradigm. Big companies, storing petabytes of data, like Facebook and Yahoo deployed their own Hadoop distribution for data analytics, interactive services etc. Nevertheless MapReduce’s simplicity in its map stage always leads to a full data scan of the input data and thus potentially wastes resources.Recently new sources of big data, e.g. the 4k video format or genomic data, have appeared. Genomic data in its raw file format (FastQ) can take up to hundreds of gigabytes per file. Simply using MapReduce for a population analysis would easily end up in a full data scan on terabytes of data. Obviously there is a need for more efficient ways of accessing the data by reducing the amount of data, considered for the computation. Already existing approaches introduce indexing structures into their respective Hadoop distribution. While some of them are specifically made for certain data structures, e.g. key-value pairs, others strongly depend on the existence of a MapReduce framework. To overcome these problems we integrated an indexing structure into Hadoop’s file system, the Hadoop Distributed File System (HDFS), working independently of MapReduce. This structure supports the definition of own input formats and individual indexing strategies. The building process of an index is integrated into the file writing processes and is independent of software, working in higher layers of Hadoop. As a proof-of-concept though MapReduce has been given the possibility to make use of these indexing structures by simply adding a new parameter to its job definition. A prototype and its evaluation will show the advantages of using those structures with genomic data (FastQ and SAM files) as a use case.