Miracle-dz/UniFAR-FTUs huggingface dataset:
Dynamics and control of a soft segmented robot for underwater and terrestrial locomotion

Title of thesis: Dynamics and control of a soft segmented robot for underwater and terrestrial locomotion Prateek Jaya Prakash Master of Science, 2020 Thesis directed by: Professor Derek A. Paley Department of Aerospace Engineering and Institute for Systems Research The thesis investigates the modeling and control a of bio-inspired soft-segmented robot in underwater and terrestrial domains. Animals have evolved to navigate through complicated environments and perform tasks. Soft-bodied animals excel at manipulation in tight environments and are the inspiration for the growing research in soft robotics. With benefits including reduced weight and design complexity as compared to rigid robots, a soft segmented robot is a viable design alternative. This work explores the mathematical modeling methodology, dynamics, and control of a soft segmented robot in underwater and terrestrial domains. Planar discrete elastic rod (PDER) theory is used to model the soft-robot and simplified fluid force and friction force models are used to describe the influence of the environment. The PDER framework produces a state-space description of the dynamics that is amenable to feedback control design, as well as computationally efficient. The feedback control law is based on a decentralized control algorithm that aims to minimize the sensing and communication requirements in practice. Dynamics and control of a soft segmented robot for underwater and terrestrial locomotion by Prateek Jaya Prakash Thesis submitted to the Faculty of the Graduate School of the University of Maryland, College Park in partial fulfillment of the requirements for the degree of Master of Science 2020 Advisory Committee: Dr. Derek A. Paley, Chair/Advisor Dr. Mumu Xu Dr. Nikhil Chopra © Copyright by Prateek Jaya Prakash 2020
Low-pressure plasma sources for etching and deposition

A variety of induction-coupled plasma source designs have been characterized for their ability to couple charged species to a lower electrode. Designs can be classified in a spectrum from remote sources, through plasma transport sources, to close-coupled sources. The DC self-bias on a lower electrode at constant bias power is used as a diagnostic of plasma coupling between source and lower electrode.
Emissions of volatile organic compounds from vegetation and the implications for atmospheric chemistry

Vegetation provides a major source of reactive carbon entering the atmosphere. These compounds play an important role in (1) shaping global tropospheric chemistry, (2) regional photochemical oxidant formation, (3) balancing the global carbon cycle, and (4) production of organic acids which contribute to acidic deposition in rural areas. Present estimates place the total annual global emission of these compounds between approximately 500 and 825 Tg yr−1. The volatile olefinic compounds, such as isoprene and the monoterpenes, are thought to constitute the bulk of these emissions. However, it is becoming increasingly clear that a variety of partially oxidized hydrocarbons, principally alcohols, are also emitted. The available information concerning the terrestrial vegetation as sources of volatile organic compounds is reviewed. The biochemical processes associated with these emissions of the compounds and the atmospheric chemistry of the emitted compounds are discussed.
Intelligibility Issues Faced by Smart Speaker Enthusiasts in Understanding What Their Devices Do and Why

Studies of smart speakers highlight issues people face with understanding why unexpected behaviour occurs and with recovering from mistakes due to uninformative responses. Yet, our understanding of such intelligibility issues in smart speakers — difficulties in understanding the device's behaviour — remains limited, in particular, for long-term and frequent smart speaker users who may encounter more complex situations than first-time users. We conducted an online survey and interviews with smart speaker enthusiasts to investigate how they form an understanding of the device's behaviour and what strategies they use to recover from breakdowns. We identified seven different breakdown recovery strategies and found that enthusiasts particularly struggled with breakdowns in their IoT infrastructure. Informed by our results, we propose three research directions: infrastructural breakdowns as learning opportunities for understanding the smart speaker's behaviour; leveraging aspects of non-verbal communication as opportunities for design; and considering passive users’ intelligibility and control needs.
Roles of Empathy, Emotion Regulation and School Climate against Cyber bullying in High Schools in Merangin, Jambi

This study aims to determine the roles of empathy, emotion regulation and school climate on cyberbullying among high school students in Merangin, Jambi. The subjects in this study were students of class X to XII. The sampling technique used was incidental sampling. The measuring instrument used were scales of empathy, emotion regulation, school climate as well as cyberbullying scale. Research data were retrieved via google form distributed online. The research data were analyzed using multiple regression techniques using the Statistical Product and Service Solution for Windows 23.0 program. Based on the results of the multiple regression analysis, F change value of 22.781 was obtained with a very high significance level of 0.000 (p <0.01). The results indicate that empathy, emotional regulation and school climate play significantly negative roles on cyberbullying among school students in Merangin. Empathy was indicated to play role in cyberbullying in high school students in Merangin, Jambi, shown by the t value of 1.691 with a significance level of 0.094 (p> 0.05). A significant positive role was shown by emotional regulation on cyberbullying in high school students in Merangin, Jambi, indicated by a t value of 2.839 with a significance level of 0.006 (p <0.05). Moreover, school climate was also shown to have a significant role on cyberbullying indicated by a t value of -2.258 with a significance level of 0.026 (p <0.05).
THEMATIC ANALYSIS USES IN INTERPRETING MUSLIM CONSUMERS' AWARENESS ON HALAL LOGO Penggunaan Analisis Thematic Dalam Mentafsir Kesedaran Pengguna Muslim Terhadap Logo Halal

The awareness levels on halal logo amongst Muslim consumers are still low, yet have to be directed analytically to demonstrate their expressions. It is due that the Halal logo intensely perceived as a routine in the ordinary life and culture of the Muslim consumer. The purpose of the study is to interpret consumers' awareness of the halal logo by using thematic analysis. Data collected using verbal data interview from focus group sampling technique. Hence, it is highlighted a few issues influencing their awareness levels such as purchase consideration, educational status, and familiarity level on the halal logo. Essentially, this study found that strengthening halal logo as unit trust implies as sufficient to avoid purchasing disputes, thus may indicate higher credential when choosing certified -halal products.
The Kinetics of the Recombination of Methyl Radicals and Iodine Atoms

The process of recombination of free radicals may be formally regarded as proceeding via an intermediate complex (the so-called activated complex) in which the radicals are more or less rigidly bound together to form an “active” molecule. The term “active” here denotes a molecule containing a large excess of vibrational energy arising from the formation of the new bond. This excess energy must be removed through a deactivating collision, else it will reaccumulate in the new bond, and the molecule will decompose shortly after it has been formed. This study treats the two main problems presented by radical recombinations: the magnitude of the steric effects tending to reduce the rate below that calculated by the kinetic theory of collisions (this effect gives rise to the so-called “steric” factor) and the effect of pressure on the rate of recombination. For example, if the activated complex is a rigid structure, i.e., the radicals are rigidly bound together, some of the rotational degrees of freedom of the radicals in their free state must be “frozen out” into bending vibrations of the new bond so that the activated complex may be formed. The relatively small probability of such a process results in a reduced chance of the formation of the activated complex and thus not every collision of radical and atom is effective in producing an active molecule. If, on the other hand, the activated complex has a loose structure, i.e., one in which the radicals rotate freely, then there will be no such restrictions on the rate of formation of the activated complex and every collision will be effective in producing an active molecule.
ACTIVE NOISE CONTROL : ITS IMPLEMENTATION & PERFORMANCE *

Active noise control systems based on feedforward approach using filtered-x LMS algorithm for single channel (in a duct) and multi-channel (in an enclosure), are considered. The systems are implemented on a TMS320C30 processor based d_space DSP board and their performances are evaluated. In the case of duct, for the tonal and white noise, a noise reduction of about 32dB and 12dB, respectively are achieved. For a duct with an axial flow fan, using anti-turbulence probes, 7.66dB noise reduction is obtained. For the multi-channel case, a 2 channel system for a typical aircraft cockpit mockup model is considered and a reduction of about 20dB is obtained for a tonal noise.
MHD Rotating flow of Nanofluid over a Semi-infinite vertical moving plate with Constant heat source

The combined effects of diffusion thermo and radiation absorption on magnetohydrodynamic (MHD) free convective rotating flow of nano-fluids past a semiinfinite permeable moving plate with constant heat source are discussed. Making use of Perturbation technique, we find velocity, temperature and concentration and are examined through graphs. Also, we evaluated the skin friction, Nusselt number and Sherwood number analytically and computationally discussed.
C HAPTER 15 ‒ S OCIAL N AVIGATION FOR S ELF -I MPROVING I NTELLIGENT E DUCATIONAL S YSTEMS

The idea of self-improving intelligent educational systems is almost as old as the field of intelligent educational systems itself. The origin of this research stream could be traced to the paper of Tim O’Shea “A selfimproving quadratic tutor” (O'Shea, 1982), which was published 40 years ago in the famous special issue of International Journal on the Man-Machine Studies. This special issue later re-published in a separate book (Sleeman & Brown, 1982), which arguably launched the very field of intelligent tutoring systems (ITS) and defined its research agenda for years ahead. O’Shea’s paper was somewhat different from the rest of the papers in the special issue. Unlike the majority of researchers who believed that intelligent educational systems should be created by domain experts through knowledge elicitation and engineering, O’Shea argued that an intelligent system should be able to improve itself not just by constant engagement of experts but by using data collected in the process of its practical application. While his self-improving tutor started with an expert-engineered teaching strategy in the form of production rules and assertions, the system also included a pro-active self improvement cycle. The idea of this cycle was to select an educational objective, make an experimental change in teaching strategy, statistically evaluate the resulting performance over time, and make necessary update if the change is successful.
Smartphone Impostor Detection with Behavioral Data Privacy and Minimalist Hardware Support

Impostors are attackers who take over a smartphone and gain access to the legitimate user's confidential and private information. This paper proposes a defense-in-depth mechanism to detect impostors quickly with simple Deep Learning algorithms, which can achieve better detection accuracy than the best prior work which used Machine Learning algorithms requiring computation of multiple features. Different from previous work, we then consider protecting the privacy of a user's behavioral (sensor) data by not exposing it outside the smartphone. For this scenario, we propose a Recurrent Neural Network (RNN) based Deep Learning algorithm that uses only the legitimate user's sensor data to learn his/her normal behavior. We propose to use Prediction Error Distribution (PED) to enhance the detection accuracy. We also show how a minimalist hardware module, dubbed SID for Smartphone Impostor Detector, can be designed and integrated into smartphones for self-contained impostor detection. Experimental results show that SID can support real-time impostor detection, at a very low hardware cost and energy consumption, compared to other RNN accelerators.
Detection of Money Laundering Transaction Network Structures and Typologies using Machine Learning Techniques

This thesis researches the detection of money laundering transactions network structures and typologies using machine learning techniques. These techniques have potential benefits over time consuming human investigations to detect money laundering transactions. Four machine learning models – Decision Tree, Conditional Inference Tree, Random Forests, Neural Network – are researched on synthetic data having various different combinations of money laundering typologies. This thesis contributes to existing research by comparing the performance of these four machine learning models, by comparing the performance on various money laundering typologies, and by an analysis of the performance of the models on data using an oversampling technique. Results indicate that – although some minor problems have to be solved machine learning models can be used for the detection of money laundering transactions. Further research should be done on the fine tuning of each model to achieve better performance. Furthermore, the models should be trained and tested on real data to compare the performance on a real-life scenario.
Improved interactions in chemically modified pineapple leaf fiber reinforced polyethylene composites

Mechanical properties of pineapple leaf fiber reinforced low density polyethylene composites have been studied with special reference to the effects of interface modifications. Various chemical treatments using reagents such as NaOH, PMPPIC, silane and peroxide were carried out to improve the interfacial bonding. Both infrared spectroscopy and SEM were used to characterize the interface and the modified fiber surface. It has been found that the treatments improved the mechanical properties significantly. However, the effect varied according to the nature of the treatments. SEM studies on the fracture surfaces revealed the extent of fiber-matrix adhesion. It has been observed that the PMPPIC treatment reduced the hydrophilicity of the fiber and thereby enhanced the mechanical properties of the composites. The addition of a small quantity of peroxide and silane increased the mechanical properties considerably. The action of peroxide is associated with the peroxide-induced grafting of polyethylene on the fib.
Water Extractable Organic Carbon and Nitrogen and Their Natural Stable Isotopes from Long-Term Experiment in A Japanese Rice Paddy

Hot waterand water-extracted organic matter was extracted from soil samples collected after a 31-year long-term experiment which is carrying out in Yamagata, northeastern Japan for single rice cultivation. The ratio of soil to extracted water was 2:3, lower than normal (1:5~1:10) for δ 13 C and δ 15 N measurements. The amounts of hot waterextracted organic carbon and nitrogen (HWEOC and HWEN) at 80 o C and 16 hours, water-extracted organic carbon and nitrogen (WEOC and WEN) at room temperature, and their δ 13 C and δ 15 N were measured from the five fertilizer treatment plots as [1) PK, 2) NPK, 3) NPK + 6 Mg ha -1 rice straw (RS), 4) NPK + 10 Mg ha -1 rice straw compost (CM1), and 5) NPK + 30 Mg ha -1 rice straw compost (CM3)], for surface (0-15 cm) and subsurface (1525 cm) layers. HWEOC and WEOC accounted for an average of about 1.51 and 0.66% of SOC, while HWEN and WEN accounted for an average of about 1.09 and 0.40% of soil TN, respectively. About 90% of the extracted N was organic form among all treatments. The δ 13 C values of HWEOC and WEOC ranged from -28.2 to -26.5‰ and from -28.3 to -27.0‰, similar to the original rice straw and rice straw compost, and lower than the value of original soil at -22.5‰. The δ 15 N values of HWEN, WEN and bulk soil ranged from 0.8 to 3.8‰, from 1.0 to 4.0‰, and from 0.8 to 2.8‰, respectively. It was clear that δ 15 N decreased in RS but increased in CM3 treatments. Our results indicated that the amounts of hot waterand water-extracted organic matter were affected by long-term application of inorganic fertilizers and organic matters remarkably. However, the δ 13 C values of HWEOC and WEOC were not different among 5 treatments, but δ 15 N values of HWEN and WEN were clearly affected by RS and CM3 applications.
Photochemistry of aqueous iron(III)-polycarboxylate complexes : roles in the chemistry of atmospheric and surface waters

Photochemical redox reactions of Fe(III) complexes of polycarboxylates (e.g., citrate, malonate, oxalate) occur on time scales of minutes in sunlight and are potentially important sources of Fe(II), O2-/HO2, H2O2, and OH in atmospheric water drops and surface waters. Quantum yields for Fe(II) formation, determined from experiments and equilibrium speciation calculations, are (1) 0.28 for Fe(OH) (citrate)-at 436 nm, (2) 0.027 for Fe(malonate)2- at 366 nm, and (3) 1.0 for Fe(oxalate)3 at 436 nm. Competitive reactions of O2 and Fe(III) with the polycarboxylate radicals and/or the carbon-centered radicals derived from decarboxylation, as well as speciation of Fe(II) and Fe(III), affect the experimental quantum yields of Fe(I) formation.
High-capacity lithium insertion materials of lithium nickel manganese oxides for advanced lithium-ion batteries: toward rechargeable capacity more than 300 mA h g−1

Lithium nickel manganese oxides Li[NixLi(1/3−2x/3)Mn(2/3−x/3)]O2 (x = 1/2, 2/7, and 1/5) are prepared and characterized by XRD and FT-IR, and the samples are examined in non-aqueous lithium cells at room temperature and 55 °C. Among these materials LiNi1/2Mn1/2O2 (x = 1/2) shows the highest operating voltage and the smallest polarization with a rechargeable capacity of ca. 230 mA h g−1 and Li[Li1/5Ni1/5Mn3/5]O2 (x = 1/5) shows the lowest operating voltage and the largest polarization with a rechargeable capacity more than 300 mA h g−1. Extraordinarily large rechargeable capacity of Li[Li1/5Ni1/5Mn3/5]O2 together with an anomalously long voltage plateau at 4.5 V only observed at first charging process is examined by window-opening charge and discharge, continuous charge and discharge combined with differential chronopotentiometry at room temperature and at 55 °C, and possible mechanisms are discussed in terms of lithium insertion scheme.
Canonical Formulas for the Lax Logic

We develop the method of canonical formulas for the lax logic. This is an intuitionistic modal logic that formalises nuclei of pointless topology and has applications in formal hardware verification. We show that all extensions of the lax logic can be axiomatised by lax canonical formulas. We give a dual description of lax canonical formulas by extending generalised Esakia duality for nuclear implicative semilattice homomorphisms. We go on to generalise lax canonical formulas to introduce steady logics, a class of lax logics that is structurally very similar to subframe logics for intermediate logics, for example, they all have the finite model property and are generated by classes closed under subframes. We look at translations of intermediate logics into lax logic and show a number of preservation results. In particular, we prove a lax analogue for the Dummett-Lemmon conjecture that the least modal companion of each Kripke-complete intermediate logic is Kripke-complete.
FIRMS' ACCESS TO TRADE CREDIT: ROLE OF MANAGERIAL PROFESSIONAL CONNECTIONS IN PAKISTAN

This study investigates the relationship between managerial professional connections and trade credit using a sample of 244 Pakistani firms for the period 2009 to 2017. We find robust evidence of a positive impact of professional connections on firm’s access to trade credit using alternative proxies of trade credit. Further, the professional connections are more effective for the firms with lower market power. Overall, these findings suggest that managerial professional connections help firms access the trade credit, particularly if their CEOs have served or are serving on the top position of the registered trade associations.
Instrumental Equipment for Cyber Attack Prevention

In this article the authors discuss some computer security mechanisms and their hardware realization and provide an overview of well-known cybersecurity software solutions. The authors provide data on hardware platforms and explore the possibility to use cheap microdevices for honeypots. The technological and information possibilities for the development of a honeypot network using a modern micro-controller based device are analyzed. The authors focus on the key features of selected devices, describing in detail the conditions by the experiment. The main experimental results are presented in graphical and tabular form. Conclusions are made about the applicability of micro-controller devices for cybersecurity purposes with the application of wireless connectivity and the provision of data about malicious actions over the Internet of Things systems.
A Simple and Efficient Ozone Generator

We report on the construction of an inexpensive, efficient, and compact ozonolysis apparatus, suitable for use in oxidation chemistry, which is a convenient alternative to the more expensive generators currently on the market. The details, operating parameters, and application of the ozone generator to the oxidation of methylallyl oxazolidione are also presented.
Arsenic bioaccumulation in rice and edible plants and subsequent transmission through food chain in Bengal basin: a review of the perspectives for environmental health

Arsenic (As) is a metalloid that poses serious environmental threats due to its behemoth toxicity and wide abundance. The use of arsenic-contaminated groundwater for irrigation purpose in crop fields elevates arsenic concentration in surface soil and in the plants. In many arsenic-affected countries, including Bangladesh and India, rice is reported to be one of the major sources of arsenic contamination. Rice is much more efficient at accumulating arsenic into the grains than other staple cereal crops. Rice is generally grown in submerged flooded condition, where arsenic bioavailability is high in soil. As arsenic species are phytotoxic, they can also affect the overall production of rice, and can reduce the economic growth of a country. Once the foodstuffs are contaminated with arsenic, this local problem can gain further significance and may become a global problem, as many food products are exported to other countries. Large-scale use of rainwater in irrigation systems, bioremediation by arsenic-resistant organisms and hyperaccumulating plants, and the aerobic cultivation of rice are some possible ways to reduce the extent of bioaccumulation in rice. Investigation on a complete food chain is urgently needed in the arsenic-contaminated zones, which should be our priority in future researches.