Miracle-dz/UniFAR-FTUs huggingface dataset:
REFERENCE ZMP MANIPULATION FOR ENERGETIC AND COMPUTATIONALLY EFFICIENT WALKING USING ZMP PREVIEW CONTROL

Humanoid locomotion is a challenging research problem in Mobile Robotics. Walking algorithms have to reason about a nonlinear, underactuated, and high-dimensional dynamics, while avoiding exceeding contact and actuators constraints. The ZMP Preview Control framework has been successfully applied to many real world humanoid robots, despite the resulting walking being energetic inefficiency. One of the reasons for the energetic inefficiency is related to the fact that the reference ZMP trajectory is kept at the middle of the support foot during single support, even though a ZMP motion from heel to toe is observed in human walking. On the other hand, modern walking algorithms based on Model Predictive Control (MPC) generate more natural walking patterns at the expense of solving costly constrained optimization problems online. Inspired by the ZMP trajectory resulting from these optimization approaches, this paper describes how to achieve more natural walking patterns in ZMP Preview Control through reference ZMP manipulation. Keywords— Robot Control, Legged Locomotion, Humanoid Robots.
The Correlation between Stress and Depression, Religious Factors, School Factors and Early Victimization as the Determinants of Early Initiation among Deviants

Aims: This study was to scrutinize the correlation between stress and depression, religious factors, school factors and early victimization as the determinants of early initiation. Study Design: Quantitative research using a questionnaire as an instrument to collect the data. Place and Duration of Study: Department of Educational Foundations and Humanities between December 2015 and April 2016. Methodology: This study affected 240 inmates from a rehabilitation center in Serendah District. A questionnaire was designed to collect data on the deviants’ background and the frequency of occurrence which concerning stress and depression, religious factors, school factors and early victimization before their initiation in deviance. Original Research Article Yin et al.; BJESBS, 16(2): 1-10, 2016; Article no.BJESBS. 26022 2 Results : Revealed that stress and depression perceived by deviants as well as the lack of school attachment and interest are significantly correlated with the early victimization experience before the initiation of deviance. Also, the lack of religious affiliation, knowledge, practice and belief of a deviant are significantly correlated with lack of attachment and interest towards school before the initiation of deviance. Conclusion: This information is valuable to raise the awareness, knowledge and understanding of youths towards determinants that are correlated in contributing to deviant behaviors. It is exclusively vital to notify educational institutions to carry out programs that reinforce the consciousness to refrain students from initiating deviance at an early age.
Advances in the kinetic simulation of microwave absorption in an ECR thruster IEPC-2017-361

The power absorption is a key feature in the overall performances of the ECRA thruster. This paper presents the recent work performed in the frame of the EU project MINOTOR to develop a kinetic model able to simulate the microwave absorption in the ECR source. First, the heating dynamic of a uniform plasma is studied using a 3D3V PIC simulation and compared to an semi-analytical model. Then, as a first step toward large scale simulation, a 1D model of the thruster has been developed to take into account the trapping of electron within a given magnetic field tube.
Leaf area index of an old-growth Douglas-fir forest estimated from direct structural measurements in the canopy

Leaf area index (LAI) in old-growth Douglas-fir (Pseudotsuga menziesii var menziesii (Mirb.) Franco) forests exceeds that of any other forest ecosystem by some estimates; however, LAI determinations in coniferous forests have generally been indirect, involving extrapolations of patterns observed in younger stands. Aided by a 75-m construction crane for canopy access, we used a vertical line-intercept method to estimate LAI for a 450-year-old Douglas-fir - western hemlock (Tsuga heterophylla (Raf.) Sarg. ) forest in southwestern Washington state. LAI was calculated as the product of foliage contact frequency and an "extinction coefficient" accounting for foliage angular distribution, geometry, and the ratio of "interceptable" to total leaf area. LAI estimates were 9.3 ± 2.1 (estimate ± 95% confidence interval), 8.5 ± 2.2, and 8.2 ± 1.8 in 1997, 1998, and 1999, respectively, or 8.6 ± 1.1 pooled across years. Understory vegetation, including foliage of woody stems <5 cm diameter, represented 20% of this total.
AMY ( Air Microwave Yield ) Laboratory Measurement of the GHz Emission from Air Showers

Inspired by recent measurements suggesting that Ultra-High Energy Cosmic Ray air showers might emit signals in the microwave region, several experiments were realized. The emission is expected to be produced in the plasma, created by the passage of the air shower through the atmosphere and is expected to be isotropic and unpolarized, allowing the detection of air showers with nearly 100% duty cycle and a calorimetric-like energy measurement, which would improve significantly the detection efficiency of current techniques. The goal of the AMY experiment is to measure in laboratory conditions the yield and the spectrum of the GHz emission in the frequency range between 1 and 20 GHz. The tests were performed at the Beam Test Facility, Frascati, Italy using a beam of 510 MeV electrons. The details of the measurement performed so far and the first results are presented.
Sources of Stochasticity in Passive Walking

This paper investigates the possible sources of stochasticity and their relative role in metastability of legged locomotion in its simplest form. Passive locomotion of a rimless wheel suggests that stochasticity is an intrinsic–and thus unavoidable– property of legged locomotion. Numerical test results of several hypotheses have been presented on the source of stochasticity of walking: the stochasticity of the angular velocities at the points of collision between the leg and the ground predominantly depends on 1) the initial distribution of the angular velocity, 2) the distribution of the coefficient of energy loss at each step, and 3) the uneven profile of the leg lengths. We found that the 2nd hypothesis holds more validity than the others to closely explain the experimental observations. We go on to present several methods to estimate the expected arrival time to a failed state in passive dynamic walking. These findings provide a compelling theoretical background to the design of legged robots interacting with uncertain environments.
AKC‹⁄ER KANSERL‹ OLGULARDA SERUM L‹P‹D PROF‹L‹* SERUM L‹P‹D PROF‹LE IN CASES W‹TH LUNG CANCER*

Çal›flma grubuna AK tan›s› alan, herhangi bir tedavi almam›fl 68 erkek, 28 kad›n, toplam 96 olgu, kontrol grubuna cinsiyet ve yaflça uyumlu 50 sa¤l›kl› eriflkin al›nd›. Olgular›n serum total kolesterol (KS), trigliserid (Trg), HDL, LDL ve VLDL düzeyleri ölçüldü. Serum total KS çal›flma grubunda 176,5 mg/dl, kontrol grubunda 195,8 mg/dl idi (p: 0.007). Serum LDL çal›flma grubunda 110,3 mg/dl, ve kontrol grubunda 123,1 mg/dl idi (p: 0.036). Di¤er lipid düzeyleri iki grup aras›nda farkl› de¤ildi. Akci¤er kanseri histopatolojik tipleri aras›nda lipid düzeyleri farkl›l›k göstermedi. Evre-III B’de total KS (p: 0.000), LDL (p: 0.000), Trg (p: 0.049) ve VLDL (p:0.029) düzeyleri kontrol grubuna göre daha düflük bulundu. S›n›rl› evre KHAK olgular›nda Trg (p: 0.009) ve VLDL (p:0.009) düzeyleri, yayg›n evreye göre daha düflük idi. Sigara içmeyen AK’li olgularda serum total KS (p: 0.03) ve Trg (p: 0.003) düzeyleri sigara içenlere göre belirgin flekilde düflük bulundu. Sigara kullan›m SUMMARY
Towards fuel spray ignition in aircraft engine

The present study aims at contributing to the development of a methodology to predict and improve the ignition performances of industrial combustors. A model has been developed to investigate the early growth of a spherical ignition kernel in a two-phase flow mixture. It is combined with a multiphysic code, with two different approaches. RANS and LES simulations have been performed on an experimental combustion chamber with a swirl injector, reproducing one sector of an industrial combustor. The gas and spray behavior have been validated. The ignition kernel model is used to build the ignition probability map of a combustor from the mean and instantaneous flow fields. Introduction Spray ignition represents one of the key parameter in the design of turbojet combustors. In case of in-flight extinction, relight must be possible, even for high altitude conditions. For helipad engines, cold engine start-up at high altitude is also necessary for mountain rescue. At altitude higher than 6000 m, pressure is lower than 0.5 bar and air, engine parts and fuel temperatures are as low as 233 K. These conditions are critical for engine relight, because of the degradation of spray atomization quality and the difficult vaporization process. For air-breathing engines, the most reliable and common ignition mode is an electrical spark discharge, which efficiently converts electrical energy into a small heat deposit. The ignition process is constituted of two main phases, ignition kernel formation and kernel propagation [1], [2]. Kernel formation can be divided in two steps: energy deposition (spark discharge) and spherical flame expansion (small-scale flame propagation). Kernel propagation also takes place in two different steps: kernel is formed into a recirculation zone and then flame propagates to the whole chamber. To certify new concept of combustors, numerous and expensive ignition tests are realized over a wide range of conditions. Such tests cannot be afford to the preliminary design phases. An alternative approach is the use of reliable numerical tools which could reduces the overall design cycle. Nowadays, with the growth of computational performances, LES can be afforded for such purpose. LES offers the advantage to capture the large scale of turbulence, and is suitable to simulate an highly stochastic phenomena like ignition [3] [4], but it still needs great computational cost. Moreover, before performing a time consuming flame propagation simulation, it should be interesting to use a simple methodology to predict ignition of the combustor [5] [6]. An ignition kernel model has been developed and combined with a CFD code in two ways (Figure 1). Firstly, the ignition model is used to build the ignition probability map of a combustor. Secondly, an ignition simulation is introduced as initial condition in an unsteady simulation to model the complete flame propagation [7]. Figure 1. Description of the ignition prediction methodology. ∗. Corresponding author: anne.bruyat@onera.fr
An Original Technique for Modeling of Anisotropic Viscoelasticity of Orthotropic Materials in Finite Element Codes Applied to the Mechanics of Plates and Shells

The paper presents an original technique for the numerical modeling of temperature dependent anisotropic viscoelastic properties in finite element codes. The study relates to the use of ANSYS Mechanical Student Products 17.2 code, but also is applicable to the other structural finite element codes. The solved oneand two-dimensional problems illustrate a possibility of an adaptation of the proposed combined-material model to the solution of model problems with a sufficient accuracy in comparison with the developed analytical solutions. An estimation of the performance of the technique shows its applicability to solution of the contact problems of orthotropic viscoelasticity of thin shells including multilayered options. The performed practical application of the method to the contact problem of cylindrical shell prove this point.
BigVAR User ’ s Guide Dimension Reduction Procedures for Multivariate Time Series

The R package BigVAR allows for the simultaneous estimation of high-dimensional time series by applying structured penalties to the conventional vector autoregression (VAR) and vector autoregression with exogenous variables (VARX) frameworks. Our methods can be utilized in many applications that make use of time-dependent data, such as macroeconomics, finance, and internet traffic. Our package adapts solution algorithms from the regularization literature to a multivariate time series setting, allowing for the computationally efficient estimation of high-dimensional VARs with the option to additionally incorporate unmodeled exogenous series. The conventional VAR and VARX are heavily overparameterized, often forcing practitioners to arbitrarily specify a reduced subset of series to model. BigVAR allows for the incorporation of many potentially useful series by imposing zero restrictions in a data-driven manner. Moreover, if forecasts are only desired from a subset of included series, using the VARXL framework (Nicholson et al. [2015]), BigVAR can effectively leverage the information from the unmodeled exogenous series to improve the forecasts of the modeled endogenous series. We additionally offer a class of Hierarchical Vector Autoregression (HVAR) procedures (Nicholson et al. [2014]) that address the issue of lag order selection in VAR models. This document presents a brief overview of our notation, the models that comprise BigVAR, and the functionality of the package. For more detail, we refer you to the original papers. Section 2 provides a brief overview of the notation, the VARX-L penalties presented in Nicholson et al. [2015] and the HVAR methodology detailed in Nicholson et al. [2014], and Section 3 details practical implementation of BigVAR with a macroeconomic data example.
Radionuclide purity and radiation dosimetry of 124I used in positron tomography of the thyroid.

Positron emission tomography of patients with hyperthyroidism using 124I has proved considerably successful and the data show (Ott el al. J. Nucl. Med., vol.26, p.30-1, 1985) the radically improved measurements of the distribution and radiation dose from radioactive iodine used therapeutically can be obtained using the high-resolution positron camera. From the results presented here, it is clear that a measurement of the impurities in 124I is important in determining the overall radiation dose to the thyroid.
A polynomial preconditioner for the GMRES algorithm

The major drawback of GMRES is that the storage demands and the number of operations per iteration increase with the number of iterations. It is important to avoid that so many iterations are needed that the work per iteration and the storage requirements become unacceptably high. This paper describes a polynomial preconditioner with which this can be achieved efficiently. The polynomial preconditioner is constructed so that it has a minimization property in an area of the complex plane. A suitable area, and hence the preconditioning polynomial, can be obtained from eigenvalue estimates. The polynomial preconditioner is very simple and easy to implement.
RESILIENCE QUANTIFICATION OF A STEEL HOSPITAL SUBJECT TO EARTHQUAKE

The premise of the concept of community resilience hinges on preventing extreme hazard events from becoming disasters through quick recovery of its various infrastructure to or near their original functionality level prior to hazard occurrence. Recovery of critical facilities and public assemblies is particularly important since they are vital for short-term and long termfunctioning of the community. For example, if a hospital is severely damaged during a seismic event, this could lead to shortage in the hospitalization service provided to the population, which will in turn result in substantial social and economic losses. In this study, a sixstory hospital located in Memphis, TN, is modeled using a comprehensive 3-D finite element model with detailed representation of material inelasticity and geometric nonlinear ity while including soil-structure interaction. The model is utilized to investigate seismic recovery and resilience of the hospital. This is conducted by utilizing existing fragility and socio-economic loss functions to derive the building functionality drop immediately following hazard occurrence. To estimate the building functionality recovery, a virtual community is assumed, which comprises of six different lifelines including the hospital. In addition, the community’s limited resources such as repair crews, expected economic return for each lifeline, and interdependence between the different lifelines is modeled. Different lifeline’s recovery is estimated using Continuous Markov Chain Process, in which community resources are distributed among different lifelines using a dynamic optimization tool to either obtain the most economic return for the whole community or the fastest recovery of the hospital. Graduate Student Researcher, Dept. of Civil and Environmental Engineering, Colorado State University, (email: eshafik@colostate.edu) 2Associate Professor, Dept. of Civil and Environmental Engineering, Colorado State University Hassan E M, Mahmoud H. Resilience Quantification of a Steel Hospital Subjected to Earthquake Loading. Proceedings of the 11 National Conference in Earthquake Engineering , Earthquake Engineering Research Institute, Los Angeles, CA. 2018. Resilience Quantification of a Steel Hospital Subjected to Earthquake E. M. Hassan and H. Mahmoud
Clustering Faulty Data : A Formal Analysis of Perturbation Robustness

Clustering is a fundamental data mining tool which aims to divide data into groups of similar items, applicable in virtually all domains where data is utilized. Generally, intuition about clustering reflects the ideal case – exact data sets endowed with flawless dissimilarity between individual instances. In practice however, these cases are the minority, and clustering applications are typically characterized by noisy data sets with approximate pairwise dissimilarities. As such, the efficacy of clustering methods in practical applications necessitates some degree of robustness to perturbations. In this paper, we perform a formal analysis of perturbation robustness, revealing that the extent to which algorithms can exhibit this desirable characteristic is inherently limited, as well as identifying the types of structures that allow popular clustering paradigms to discover meaningful clusters in spite of faulty data.
A Fast Mean Shift Procedure with New Iteration Strategy and Re-sampling

Mean-shift analysis is a general nonparametric clustering technique based on density estimation for the analysis of complex feature spaces. It has been successfully applied to many applications such as segmentation and tracking. However, despite its promising performance, there are applications for which the algorithm converges too slowly and is not practical. In this paper, an improved version of mean shift algorithm is proposed and implemented. The fast mean shift procedure uses a new iteration strategy and re-sampling. The new iteration strategy is based on updating cluster centers according to dynamically updated sample set. And the original data set is simplified by re-sampling, which accelerates the algorithm more significantly. Experimental results demonstrate the efficiency of the fast mean shift procedure in clustering problems.
A PROBABILISTIC APPROACH FOR FATIGUE DAMAGE ANALYSIS OF AN OFFSHORE WIND TURBINE

Wind Turbines constitute a sustainable and effective solution for the production of energy using wind power. Offshore wind turbines especially are becoming of special interest. However, their design poses great challenges, since an offshore structure is subject to combined wind and wave dynamic loading that is characteristic of the site of installation. The purpose of this paper is to provide a case study of fatigue life assessment for the cross-section at mudline (foundation) of a standard offshore wind turbine with a monopile design. Two potential sites of construction in the Aegean Sea of Greece were examined. A probabilistic approach was employed in order to determine the fatigue life based on anemological data at each of the two sites of interest. At its basis is an extensive Monte Carlo simulation of wind (velocity) and wave (height, period) characteristics. The results show the dependence of fatigue life on the local wind and wave conditions, the crosssection size (e.g. diameter and thickness of the foundation’s pile) and the welded connection detail. All in all, the more benign conditions in the Aegean allow simpler connection details and smaller in size cross-section of foundation pile’s cross-section to still have acceptable performance.
William Rottschaefer The Moral Realism of Pragmatic Naturalism

In his The Ethical Project, Philip Kitcher o ers a pragmatic naturalistic account of moral progress, rejecting a moral realist one. I suggest a moral realist account of moral progress that embraces Kitcher's pragmatic naturalism and calls on moral realism to show how the pragmatic account is successful. To do so I invoke a hypothesis about moral a ordances and make use of a cognitive account of emotions.
Correlation between in vitro and in vivo activity of amoxicillin against Streptococcus pneumoniae in a murine pneumonia model.

We studied the relationship between in vitro bacteriological parameters [minimal inhibitory concentration (MIC), minimal bactericidal concentration (MBC) and killing rate, defined as the reduction in the inoculum within 1, 3 or 6 hr] and in vivo activity of amoxicillin against 12 strains of Streptococcus pneumoniae, with penicillin MICs of < 0.01 to 16 micrograms/ml, in a cyclophosphamide-induced neutropenic murine pneumonia model. Dose-response curves were determined for amoxicillin against each strain, and three quantitative parameters of in vivo amoxicillin activity were defined, i.e., maximal attainable antimicrobial effect attributable to the drug [i.e., reduction in log colony-forming units (CFU) per lung, compared with untreated controls], dose required to reach 50% of maximal effect and dose required to achieve a reduction of 1 log CFU/lung. We demonstrated a highly significant correlation between the dose required to reach 50% of maximal effect and MIC (Spearman r = 0.98, P < .0001) or MBC (Spearman r = 0.95, P < .0001) for amoxicillin against strains of S. pneumoniae with a wide range of amoxicillin MICs (0.01-8 micrograms/ml). Significant correlations between the dose required to achieve a reduction of 1 log CFU/lung and MIC (Spearman r = 0.98, P < .0001) or MBC (Spearman r = 0.95, P < .0001) were also observed. In contrast, there were no significant correlations between the maximal attainable antimicrobial effect attributable to the drug and MIC, MBC or killing rate or between killing rate and the dose required to reach 50% of maximal effect or the dose required to achieve a reduction of 1 log CFU/lung. We conclude that in vitro susceptibility test results (MICs and MBCs) correlated well with in vivo amoxicillin activity against pneumococcal strains, including highly penicillin-resistant strains, in this animal model. Furthermore, these data suggest that the estimated MIC breakpoints for amoxicillin against S. pneumoniae would be 2 micrograms/ml for intermediate-resistant and 4 micrograms/ml for resistant, although this remains to be confirmed in clinical studies.