Miracle-dz/UniFAR-FTUs huggingface dataset:
Obstacle Avoidance for Unmanned Undersea Vehicle in Unknown Unstructured Environment

To avoid obstacle in the unknown environment for unmanned undersea vehicle (UUV), an obstacle avoiding system based on improved vector field histogram (VFH) is designed. Forward looking sonar is used to detect the environment, and the divisional sonar modal is applied to deal with the measure uncertainty. To adapt to the VFH, rolling occupancy grids are used for the map building, and high accuracy details of local environment are obtained. The threshold is adaptively adjusted by the statistic of obstacles to solve the problem that VFH is sensitive to threshold. To improve the environment adaptability, the hybrid-behaviors strategy is proposed, which selects the optimal avoidance command according to the motion status and environment character. The simulation shows that UUV could avoid the obstacles fast and escape from the U shape obstacles.
Marine Oil Fate: Knowledge Gaps, Basic Research, and Development Needs; A Perspective Based on the Deepwater Horizon Spill

Abstract The various complex forms of transport as well as many other fate processes ongoing in the marine water column require research for the understanding and prediction of impacts of deepwater releases on the marine ecosystem. Such research is useful for assessing the context and limits of future deepwater oil and gas development in the Gulf of Mexico. The Deepwater Horizon incident in the Gulf represents the first oil spill occurring at significant depth, ∼5,000 ft (1,500 m). It is also the first situation where dispersants were directly added to the hydrocarbon effluent from the wellhead in efforts to disperse the droplets over a large volume of the water column. In this regard, this perspective is an original work in that it provides an in-depth analysis of gaps and needs, which will guide future work in the field. Preliminary reports have led to a variety of images that highlight new physiochemical phenomena whose comprehensive understanding will be needed in assessing the oil and associated hydr.
- 07-04 Introducing the Failure Mode Effects Reflective Analysis Technique for the Field of Higher Education and Research

The Failure Mode and Effects Analysis (FMEA) technique is a well-established “key tool” [1] for risk assessment and management in the field of engineering that has been ‘borrowed’ extensively in recent years by other areas such as the field of medicine, chemical process industries, and the automotive industry, where it has been utilised as a quality improvement tool. In a very structured way the FMEA enables a team of individuals to assess and manage risk by clarifying potential failures or problems with the product, service or process under review, highlighting the effects or consequences of those failures, and agreeing procedures to be put in place to either eliminate the occurrence of those effects or mitigate the severity of their consequences. In the absence of a standardised risk assessment strategy in the field of higher education (HE) and research, this paper details a study undertaken at a HE institute in Ireland that ‘borrowed’ the FMEA technique and modified it for use in the field of HE and research specifically, in order to evaluate its potential role and value for the field. Once modified in ways that supported the epistemological assumptions of the borrowing discipline, the technique was used to carry out a risk assessment of the strategies in place at the institute in question to implement its elearning initiative. Subsequently, how the research process itself ran, as well as the type and quality of the data the technique helped generate, were analysed in depth. The key finding of the study emerged as the high level of reflection that the modified FMEA technique encouraged unexpectedly amongst the participants. It provided them with a rare and invaluable opportunity to reflectively analyse the strategies in question, which led to significant outcomes for them. This in turn led to the design of the Failure Mode Effects Reflective Analysis (FMERA) qualitative research technique for the field of HE and research, which holds huge potential for the field in this era of great change and need for continuous quality improvement. This paper will introduce the technique and provide practical recommendations for its use.
Minimum Probability of Error Image Retrieval: From Visual Features to Image Semantics

The recent availability of massive amounts of imagery, both at home and on the Internet, has generated substantial interest in systems for automated image search and retrieval. In this work, we review a principle for the design of such systems, which formulates the retrieval problem as one of decision-theory. Under this principle, a retrieval system searches the images that are likely to satisfy the query with minimum probability of error (MPE). It is shown how the MPE principle can be used to design optimal solutions for practical retrieval problems. This involves a characterization of the fundamental performance bounds of the MPE retrieval architecture, and the use of these bounds to derive optimal components for retrieval systems. These components include a feature space where images are represented, density estimation methods to produce this representation, and the similarity function to be used for image matching. It is also Full text available at: http://dx.doi. org/10.1561/2000000015
Determining the Impact of a Psychoeducational Group on Student-Athlete Identity

This study examined the impact of a psychoeducational group on middle school student-athlete identity. Literature regarding stigmas, academic eligibility, time commitment, athletic burnout, substance usage, role conflict, and moral orientation, was reviewed to identify challenges faced by student-athletes. Supportive programs and the benefits of psychoeducational groups were discussed to provide information on combating these challenges. This study followed a quantitative, action research design, and the Academic and Athletic Identity Scale was administered as part of a pre and post-test data collection to measure a psychoeducational intervention. The data collected showed that the psychoeducational group intervention increased academic and athletic identity recognition. Limitations and implications were discussed to provide further recommendations for future research.
Evaluation of Different Methods for Hygienic Microbiological Control from the Working Surfaces in the Microbiological Laboratories

Evaluation of Different Methods for Hygienic Microbiological Control from the Working Surfaces in the Microbiological Laboratories Background: The role of the inter-hospital non-living environment in spreading of some infections is not universally accepted attitude, but still there is a proof that in some cases it is a risk factor for causing infections with some pathogenic microorganisms. Isolation of microorganisms from the non-living environment can significantly vary in reproducibility and sensitivity of different methods of collecting specimen and its cultivation. Aim: In aim to develop and assess hygienic control strategies with incorporating better monitoring and improved cleaning, we have undertaken this survey in microbiological labs to offer better approach in infection control procedures for sampling specimens from inanimate environment in health care facilities. Material and Methods: Three issues might have influence on isolation rates of the mircroorganisms: sampling technique, cultivation methods and professional behaviour of the staff regarding the recommendations and guidelines for hygiene of the workplace. Staphylococcus aureus was almost the only isolated opportunistic microorganism from the surfaces of the workplaces (five from ten), beside Enterococcus, and there was no obvious differentiation in isolation capability between both used swabs. Semi-quantitative method was used for cultivation of saprophytic bacteria. Average of cfu from all used nutrient media was used to estimate bio-mass. Results: Mann-Whitney U test has confirmed statistically significant differentiation between average of cfu (colony-forming unit) (p = 0.0215) sampled with Quanti swab in comparison with wet traditional cotton swab. Plating with swab on trypticase soy agar showed a statistically significant difference between the number of cfu after 24h and 48 h (Wilcoxon Matched Pairs Test: Z = 2.66; p = 0.0076). Plating with pouring on trypticase soy agar at 45°C revealed a statistically significant difference between the number of cfu after 24h and 48 h (Wilcoxon Matched Pairs Test: Z = 2.52; p = 0.01171). Conclusion: This survey suggests that pour plate method is a more sensitive and appropriate cultivation method for hygienic control in healthcare facilities.
Latent behaviour modelling using discriminative restricted Boltzmann machines

In this study, we explore the use of generative modelling methods to estimate latent variables from choice prior distribution without the conventional use of measurement indicators. A restricted Boltzmann machine design is used to represent latent behaviour factors by analyzing the relationship information between the observed choices and explanatory variables. The algorithm is adapted for a simple discrete choice data and we use a graphical approach to study the semantic meaning from parameter vectors. Our study shows that through exhaustive parameter search, we can extract useful latent information on the behaviour of latent constructs through machine learning methods. Conventional methods of estimating latent behaviour from attitudinal questions are subjective and these survey questions may not always be available. We hypothesize that an alternative approach can be used for latent variable estimation through an undirected graphical model.
Goodness Of Fit Test For The Skew-t Distribution

In this manuscript goodness-of-fit test is proposed for the Skew-t distribution based on properties of the family of these distributions and the sample correlation coefficient. The critical values for the test can be achieved by Monte Carlo simulation method for several sample sizes and levels of significance. The power of the proposed test can be specified for different sample sizes and considering diverse alternatives.
TERMOSENSITIVE PARTICLES ON THE BASE OF POLYMER - LIQUID CRYSTAL COMPOSITES

The developed technology of formation of temperature sensitive particles on the basis of polymeric - liquid-crystal (LC) composites has been described. The light transmission by layer of temperature sensitive particles, dispersed in water was investigated theoretically and experimentally. The temperature relation of light transmission by a layer of a LC water dispersion was measured.
Two-dimensional Simulation of Mass Transfer and Nano-Particle Deposition of Cigarette Smoke in a Human Airway

The chance of developing lung cancer is increased through being exposed to cigarette smoke illustrated by studies. It is vital to understand the development of particular histologic-type cancers regarding the deposition of carcinogenic particles, which are present in human airway. In this paper, the mass transfer and deposition of cigarette smoke, inside the human airway, are investigated applying the finite element method. The mass transfer and depositions of four types of critical cigarette smoke, namely 1, 3-butadiene, acrolein, acetaldehyde and carbon monoxide (CO), in a complete human-airway model (from mouth to B3 generation), under inhalation conditions, have been simulated. In this study, concentration distribution in inhalation is evaluated. The vapour deposition was modelled with 30 and 80 L.min-1 volumetric flow rates. Therefore, a two-dimensional model of human airway from the mouth to generation B3 was reconstructed. Then, for simulating the mass transfers and deposition fraction, the low-Reynolds-number (LRN) k–ω turbulence equation was used.
THE EFFECTS OF STRENGTHENING, STRETCHING AND COMPREHENSIVE EXERCISES ON FORWARD SHOULDER POSTURE CORRECTION

Methods:This quasi-experimental study design Pre-posttest with control group. Forty females students with excessive forward shoulder angle (FS>52) were chosen using purposive sampling method. The average of age, weight, height and body mass index of the samples were 22.22±1.77 years, 61.22±1.90 kg, 161.85±2.55 cm, and 23.37±0.9kg. m2 respectively. The subjects were randomly divided into 4 groups ( each 10 subjects), 3 experimental and 1 control groups. The first experimental group performed strength training, second group stretch training and third group comprehensive training for 6 weeks. In this period, the control group did not receive any training. We used photogrammetric method to measure the angle of the forward shoulder. Shoulder angle changes of the subjects before and after 6 weeks were measured. Data were analyzed using paired T-test, One-way analysis of variance and SPSS (21) (P≤0.05).
Implications of Crossborder Education and GATS for the Knowledge Enterprise

The realities of globalization, including innovative information and communication technologies, the market economy, new trade agreements, international mobility, and in particular the knowledge society, have been powerful forces of change for many sectorsespecially higher education. The overall demand for higher and professionally-related courses is increasing in most countries. This is due to a number of reasons: changing demographics, increased number of secondary school graduates, a movement to lifelong learning, and the growth of the knowledge enterprise.
Effect of Organic Dye on the Photovoltaic Performance of Dye-Sensitized ZnO Solar Cell

This work investigated the influence of the organic dyes Orange IV and Eosin Y as photosensitizers on the photovoltaic parameters of ZnO photoelectrode dye-sensitized solar cells (DSSCs). ZnO was prepared by homemade ZnO nanoparticles. X-ray powder diffraction (XRD), scanning electron microscopy (SEM) and BET measurements were used to characterize the structures and the morphology of ZnO nanostructures. The Orange IV demonstrated the best performance compared with the cell sensitized with the Eosin Y. This occurred as Orange IV demonstrated the highest molar extinction coefficient.
Role of Self-Interstitial Atoms on the High Temperature Properties of Metals

Equilibrium concentrations of self-interstitial atoms and divacancies have been determined in Cu by molecular dynamics computer simulations using embedded atom potentials. Near the melting temperature these concentrations are both ,1026. Owing to the higher mobility of the interstitial atoms, however, they contribute more to diffusion. In perfect, or pulse-heated crystals, spontaneous Frenkel pair production results in even higher interstitial concentrations. [S0031-9007(98)06040-2]
On the distribution of orbits in affine varieties

Given an affine variety $X$, a morphism ${\it\phi}:X\rightarrow X$, a point ${\it\alpha}\in X$, and a Zariski-closed subset $V$ of $X$, we show that the forward ${\it\phi}$-orbit of ${\it\alpha}$ meets $V$ in at most finitely many infinite arithmetic progressions, and the remaining points lie in a set of Banach density zero. This may be viewed as a weak asymptotic version of the dynamical Mordell–Lang conjecture for affine varieties. The results hold in arbitrary characteristic, and the proof uses methods of ergodic theory applied to compact Berkovich spaces.
Production, characterization and nutritional quality of Napier grass [Pennisetum purpureum (Schum.)] cultivars in Western Kenya.

Napier grass (Pennisetum purpureum (Schum.)) is the most popular perennial fodder recommended for smallholder crop-livestock farming systems in Kenya, where 80% of the national milk output is produced. The emergence of new diseases resulting in DM yield losses signals the need to develop alternatives to currently grown cultivars. Eight new cultivars (Kakamega 1, Kakamega 3, Machakos hairless, Uganda L14, Soghor Nandi L13, Kitui L7, Ex-Mariakani and Kakamega 8) were compared to four currently grown cultivars (Bana, French Cameroon, Clone 13 and Pakistan Hybrid) in the sub- humid highlands of northwestern Kenya for two growing seasons. Agronomic measurements were made on DM yield, tiller number, length, diameter and angle, leaf length, width, hairiness and colour and disease incidence. Nutritional measurements were made on leaf to stem ratio, intake, milk yields and body condition of Friesian cows. Kakamega 1, and Kakamega 3 yielded similar (p > 0.05) DM yield as Clone 13, Bana and French Cameroon, which yielded more than 16 t ha-1 and greater (p 0.05) in DM intake between Bana, Kakamega 1, Kakamega 3 and Machakos hairless. Cows feeding on Kakamega 3 and Kakamega 1 Napier grass cultivars yielded similar (p > 0.05) milk as those fed Bana grass, but more (p < 0.05) than those fed Machackos hairless. Kakamega 1 and Kakamega 3 could be used as alternatives to the currently grown Bana grass in Kenya.
The prevalence of obesity in Iran in recent decade; a systematic review and meta-analysis study.

Background: There is a great deal of descriptive studies on obesity in Iran, mostly assessed the prevalence and its relationship with various risk factors and chronic diseases. In order to obtain/give a better insight into the epidemiology of obesity in Iran in recent years and assess its heterogeneity around the country, we reviewed systematically all available studies and analyzed their findings using Meta-analysis. Methods: All published papers in Iranian and international journals, final reports of research projects, papers in relevant congresses, proceeding books and dissertations of students were reviewed. Those findings, which published between 1997 and 2007 and met eligible criteria, were entered in meta-analysis (Random Model). Results: Fifty eight eligible papers (out of 219) including 132864 individuals were entered into analysis. The overall prevalence of obesity for adults (>18 yr) and children (<18y) was 21.5% (CI95% 17.4-25.6) and 5.5% (CI95% 4.5-6.4), respectively. The prevalence of obesity in boys and girls (<18y) was 5.3% (CI95% 4.1-6.4) and 4.8% (CI95% 4.0-5.7), respectively. It increased in both adult men and women to 13.7% (CI95% 10.9-16.7) and 27.3% (CI95% 21.3-33.4), respectively. Meta regression indicated that only age explained a considerable proportion of the observed heterogeneity among women. Conclusion: In overall, the risk of obesity was greater in women, but even in adults, the prevalence was less than that in developed countries. The percentage of obesity was increased by aging, especially in women. There were large variations in the reported prevalence of obesity in Iran; it is mainly because of the different in the distributions of age and sex among the subjects.
4 DNA Replication in Repair

All living organisms face a constant barrage of DNA damage from anthropogenic and naturally occurring external and endogenous sources, yet DNA provides the blueprint for all other cellular structures. Unlike these other structural and functional molecules, DNA is not turned over in a cycle of breakdown and rebuild; DNA, by the nature of its function as an informational macromolecule and its double stranded structure, is faithfully repaired and copied to maintain the encoded information. In the case of multicellular organisms, the focus of this review, fidelity of information prevents disease, both heritable (e.g. genetic disorders), and within an individual (e.g. cancer). However, errors in DNA replication and repair serve as the grist of evolution; in some sense, these errors are essential to life as we know it. With few exceptions, the repair of DNA damage requires the action of one or more DNA polymerases. In many cases, these are specialized polymerases, recruited to the site of damage for their specific biochemical properties. In this literature review, I will present different types of DNA damage, the biochemical systems utilized in the repair of this damage, the role of various enzymes in this repair – emphasizing the role of specific DNA polymerases – and the outcome of repair – including the resulting mutation spectrum – where relevant.
Intercomparison of passive microwave sea ice concentration retrievals over the high-concentration Arctic sea ice

[1] Measurements of sea ice concentration from the Special Sensor Microwave Imager (SSM/I) using seven different algorithms are compared to ship observations, sea ice divergence estimates from the Radarsat Geophysical Processor System, and ice and water surface type classification of 59 wide-swath synthetic aperture radar (SAR) scenes. The analysis is confined to the high-concentration Arctic sea ice, where the ice cover is near 100%. During winter the results indicate that the variability of the SSM/I concentration estimates is larger than the true variability of ice concentration. Results from a trusted subset of the SAR scenes across the central Arctic allow the separation of the ice concentration uncertainty due to emissivity variations and sensor noise from other error sources during the winter of 2003–2004. Depending on the algorithm, error standard deviations from 2.5 to 5.0% are found with sensor noise between 1.3 and 1.8%. This is in accord with variability estimated from analysis of SSM/I time series. Algorithms, which primarily use 85 GHz information, consistently give the best agreement with both SAR ice concentrations and ship observations. Although the 85 GHz information is more sensitive to atmospheric influences, it was found that the atmospheric contribution is secondary to the influence of the surface emissivity variability. Analysis of the entire SSM/I time series shows that there are significant differences in trend between sea ice extent and area, using different algorithms. This indicates that long-term trends in surface and atmospheric properties, unrelated to sea ice concentration, influence the computed trends.