Miracle-dz/UniFAR-FTUs huggingface dataset:
A guided approach to sampling-based motion planning

The thesis deals with the motion planning problem. In this problem, the task is to find a path or trajectory between two places in a known environment. Motion planning is mostly studied in robotics, but its applications are far beyond robotics in areas like computational biology or surgery. A wide range of motion planning problems can be solved using the concept of configuration space. Due to high number of dimensions of the configuration space, that is equal to the number of degrees of freedom of the robot, it is not possible to discretize the space and search it using standard state-space searching methods. Sampling-based motion planner like Probabilistic Roadmaps of Rapidly Exploring Random Tree solves the planning problems by randomized sampling of the configuration space. A well know bottleneck of the methods is the narrow passage problem. In order to speed up motion planner and to increase reliability of the planners, we propose to utilize the knowledge of the workspace to help sample the configuration space. The knowledge is represented using a path, the guides the sampling in the configuration space from the start configuration to the goal configuration. The guided sampling is studied in three challenging scenarios. The basic principle of the guided sampling is introduced on the example of motion planning for mobile robots, which requires to sample the three-dimensional configuration space. The low dimensionality of the configuration space allows us to compute the guiding path as a geometric path in the workspace using standard path planning methods. A different approach to compute the guiding path is proposed solve the path planning problem for 3D objects, that requires to search the six-dimensional configuration space. The proposed method first solves a relaxed version of the problem by scaling down the geometry of the robot. The found solution is then iterative improved until the solution of the original problem is found. Finally, a novel motion planner is proposed for motion planning for modular robots. Modular robots are formed by connecting basic robotic modules. These robots can be reconfigured to various shapes and they represent systems with more than 6 degrees of freedom. Motion planning for modular robots is challenging also due to necessity to control many actuators in order to achieve a motion of the whole robot. We propose a novel motion planning system that utilize several locomotion generators in order to realize basic motions of the robots — motion primitives. The proposed planner then constructs the plan using these primitives.
Unit commitment using stochastic optimization

This paper demonstrates how the simulated annealing algorithm and genetic algorithms can be used as means to solve the power system unit commitment problem. In addition, this paper presents parallel approaches to speed up the computational requirement of the simulated annealing algorithm. The algorithms were tested with two different problems. The results have demonstrated the success of the algorithms in consistently reaching good solutions.
The impact of supply phase shift on the three phase induction motor operation

The performance of a three-phase induction motor operating under supply unbalance conditions has been the focus of many research works using various methods. Most of the studies have focused majorly on voltage magnitude unbalance without due analysis to determine the effect of deviations in the supply phase angle from the 120° phase to phase displacement. This research investigates the significance of supply phase shift on the performance of a three-phase induction motor by applying a novel phase shift unbalance definition to the zero, negative and positive sequence components model of the motor. The test results reveal that when both phase angle shift and voltage magnitude unbalance occur simultaneously during motor operation the effect of the phase shift dominates over the effects of the voltage magnitude unbalance. This study shows that phase angle unbalance has a severe consequence on three phase motor performance.
A Review on Studies of Comparative Sentence of Chinese

Becauce of lacking of strict morphological process,there is not typical marker of comparative sentence and the system of the kind of synactic structure like English.But there should be synactic structure expressing the meaning of comparison in Chinese.This paper summarizes the studies about comparative sentences in Chinese from Mashiwentong,and the studies are classified by "about Compare" "about Sub-Compare" "Diachronic Studies about Comparative Sentences" "Typology Studies about Comparative Sentences" "the Relations of Comparative Sentences Analogous Sentence".
Bufier Over∞ow and Format String Over∞ow Vulnerabilities

SUMMARY Bufier over∞ow vulnerabilities are among the most widespread of security problems. Numerous incidents of bufier over∞ow attacks have been reported and many solutions have been proposed, but a solution that is both complete and highly practical is yet to be found. Another kind of vulnerability called format string over∞ow has recently been found, and though not as popular as bufier over∞ow, format string over∞ow attacks are no less dangerous. This article surveys representative techniques of exploiting bufier over∞ow and format string over∞ow vulnerabilities and their currently available defensive measures. We also describe our bufier over∞ow detection technique that range checks the referenced bufiers at run time. We augment executable flles with type information of automatic bufiers (local variables and parameters of functions) and static bufiers (global variables in the data/bss section), and maintain the sizes of allocated heap bufiers in order to detect an actual occurrence of bufier over∞ow. We describe a simple implementation with which we currently protect vulnerable copy functions in the C library.
Thermoset Injection Molding

An injection molding press consists of two major sections: the clamp and the injection unit. The clamping section, which is similar to a compression press, uses either a hydraulic cylinder (hydraulic clamp) or a hydraulic cylinder and linkage mechanism (toggle clamp) to close the mold halves and hold them together under pressure. This section of the press also contains the main ejection system for part removal from the mold.
Digital implementation of a galvanometric optical scanner based on DSP and FPGA

A galvanometric optical scanner in a laser marking system is controlled to achieve the demand of high speed and high accuracy. this paper presents a design of digital galvanometric optical scanner adopting a high-precision pid control algorithm with compensation based on repetitive control which is dspfpga-based architecture. this thesis consists of three parts including theory of laser marking system and galvanometer scanner construction, hardware design of dspfpga-based architecture, design and simulation of scanning controller.
Investigation of Optical and Morphological Properties of Co Doped ZnO Nanomaterials

This document ZnO is one of the high quality materials for optoelectronic applications due to its wide band gap. ZnO nanostructures must be added to improve the morphological and optical properties of optoelectronic devices for nanotechnology applications. In this study, 1%, 5% and 10% Co elements were added to ZnO nanomaterial and samples were produced by sol gel spin coating method. When the samples were produced, coating process was carried out using a rotation speed of 1500 rpm and a rotation time of 25 seconds. Coating process repeated 5 times. Two-dimensional and three-dimensional images of the films produced using Atomic Force Microscopy (AFM) were analyzed. The surface morphology and surface roughness of the films were examined with the help of these analyzes. The transmittance and absorption spectra of the produced films with UV-VIS spectroscopy were taken and the optical properties were examined by calculating the optical band gap. While the increase in roughness values increased with the addition of co, the decrease in the transmittance values of the optical band gap range increased up to 10% Co contribution and a 10% Co contribution decreased.
Sensitivity enhancement mechanisms at the periphery of the olfactory pathway

Massive convergence of input from olfactory receptor neurons (ORNs) with identical tunings leads to spatial integration of sensory signals, thereby boosting sensitivity to sensory cues. The consequent reduction in detection thresholds is assumed to derive from the pooling of elevated firing rates across the ORN population. By comparing detection thresholds at the first two stages of the olfactory pathway in an olfactory specialist, the moth, allowed for the quantification of the sensitivity boost achieved during early sensory processing. This boost was found to be at least 3 orders of magnitude, which was shown to exceed tha t achieved by a theoretical model of spike train integration. The sensitivity enhancement achieved by this system therefore goes beyond straightforward spatial summation of receptor firing rates, suggesting subtler coding and readout mechanisms. To discount the possibility of ORNs employing a temporal encoding scheme, an inves­ tigation into spike patterns at the periphery was performed. While no temporal patterns were evident, a temporal encoding scheme remains a possibility. Despite the inconclusive result found here, the analysis demonstrates the need for an investigation of the stationarity of spike trains, where a statistical basis underlies the analysis method, before drawing conclusions. Regardless of the encoding scheme employed at the periphery, due to the multitude of possible synaptic connections within a glomerulus, it seems unlikely tha t this site of conver­ gence of receptor input would be passive. A simple, but biologically plausible computational model was developed, where specific zones of the dendritic tree of an output neuron form individual subunits capable of performing a nonlinear threshold function on ORN inputs. This nonhnear model consistently outperformed a comparable linear model when assessing the stimulus detection performance of the output neuron.
Exhumation and Tectonomagmatic Processes of the Granitoid Rocks from Sulawesi, Indonesia: Constrain from Petrochemistry and Geothermobarometry Study

DOI:10.17014/ijog.6. 2.153-174 Exhumation and tectonomagmatic processes of the granitoid from Sulawesi were discussed using petrochemistry (e.g. petrographic and major element compositions) and geothermobarometry data (mineral chemistry data). Detailed petrographic observations were conducted to determine the mineral composition, texture, and structure of the granitoid rocks, whereas the whole rock composition were determined using XRF method, and the mineral chemistry was analyzed using Electron Microprobe Analyzer (EPMA). The granitoids are classified as calc-alkaline, metaluminous I-type. Pressures of 0.91 to 1.2 kbar and emplacement depths of 3.2 to 4.3 km at temperatures of 677 - 729°C were estimated for Mamasa Pluton. Whereas Masamba Pluton was emplaced at pressures of 2.3 to 2.8 kbar, temperatures of 756 - 774°C, and emplacement depths of 8.2 to 10 km. Moreover, Lalos-Toli and Sony Plutons were emplaced at temperatures of 731 to 736°C and 601 to 609°C, respectively. The pressures varying from 3.1 to 3.3 kbar and 3.2 to 3.4 kbar, equate to an emplacement depth of 11.3 and 11.6 km, respectively. Gorontalo Pluton emplaced at temperatures of 662 - 668°C with the pressure range from 2.6 to 2.7 kbar, is equivalent to 9.3 km deep. Varied oxidation state (ranging from -14 to 19) is inferred from the mineral assemblages, showing a strong association with highly oxidized I-type series granitic rocks. The exhumation rate estimation shows that Mamasa and Masamba Plutons were exhumed respectively at a rate of 0.37 and 1.6 mm/year, whereas Lalos-Toli and Sony Plutons at 1.4 and 2.7 mm/year, respectively. Gorontalo Pluton located in the Northern Sulawesi Province was exhumed at 0.42 mm/year. The rapid exhumation rate of Sony Pluton is attributed to the active vertical movement of Palu-Koro Fault Zone which has been active since Pliocene. It shows that faulting may play an important role in differential exhumation of intrusive bodies in the orogenic belt.
Stretching the limits of dynamic range, shielding effectiveness, and multiband frequency response

In this dissertation, an RF MEMS variable capacitor suitable for applications requiring ultrawide capacitive tuning ranges is reported. The device uses an electrostatically tunable liquid dielectric interface to continuously vary the capacitance without the use of any moving parts. As compared to existing MEMS varactors in literature, this device has an extremely simple design that can be implemented using simple fabrication methods that do not necessitate the use of clean room equipment. In addition, this varactor is particularly suited for incorporating a wide range of liquid dielectric materials for specific tuning ratio requirements. Additionally, the shielding effectiveness performance of graphene-doped ABS thin films is investigated. The use o f graphene as a replacement for metal fillers in composite EMI shielding materials is quickly becoming a widely-investigated field in the electromagnetic compatibility community. By replacing conventional metal-based shielding methods with graphene-doped polymers, low-weight, field-use temporary shielding enclosures can be implemented that do not suffer from mechanical unreliability and corrosion/oxidation like a traditional metal enclosure. While the performance o f composite EMI shielding materials has not yet surpassed metals, the advantages of polymer-based shielding methods could find usage in a variety o f applications. Finally, mutliband pre-fractal antennas fabricated via 3D printing are reported. These devices are the first to incorporate the advantages o f 3D printing (rapid prototyping, fabrication of complex geometries otherwise unobtainable) with the advantages o f self-similar antennas (increased gain and multiband performance) in a single device. The Sierpinski tetrahedron-based antenna design was both computationally modeled and physically realized to illustrate its potential as a solution to enable true multiband communication platforms. APPROVAL FOR SCHOLARLY DISSEMINATION The author grants to the Prescott Memorial Library of Louisiana Tech University the right to reproduce, by appropriate methods, upon request, any or all portions o f this Dissertation. It is understood that “proper request” consists o f the agreement, on the part o f the requesting party, that said reproduction is for his personal use and that subsequent reproduction will not occur without written approval of the author of this Dissertation. Further, any portions of the Dissertation used in books, papers, and other works must be appropriately referenced to this Dissertation. Finally, the author o f this Dissertation reserves the right to publish freely, in the literature, at any time, any or all portions o f this Dissertation.
Comparative Study of Jute, E-glass and Carbon Kevlar Fabric Reinforced Polypropylene Composite

In this experiment, three types of fabric such as jute, E-glass and carbon Kevlar were selected to manufacture composites taking polypropylene (PP) as matrix material. The objective of this study is to compare the examined properties such as tensile modulus (TM), elongation at break percentage (EB %), E-Modulus (EM) of jute, E-glass and carbon Kevlar fabric reinforced polypropylene composite. The properties of manufactured composite were evaluated experimentally using computerized UTM machine according to ASTM standards. Fourier transform infrared spectroscopy was used to identify the surface groups of the composites. Water absorption and fire retardant behavior of the composites were also performed. The results revealed that the tensile strength, E-Modulus and water absorption of carbon Kevlar composite were exhibited higher than the jute and E-glass fabric reinforced composites. Different scenario has observed for elongation percentage at break. The capacity of fire retardant was noticed higher in jute fabric composite than E-glass and carbon Kevlar.
COMPARAÇÃO CLIMATOLÓGICA DO VENTO NA SUPERFÍCIE DO MAR ENTRE DUAS REANÁLISES ATMOSFÉRICAS GLOBAIS PARA A MARGEM CONTINENTAL LESTE/SUDESTE BRASILEIRA

Due to the relevance of understanding atmospheric fluxes influence on the ocean state, especially the modeling and prediction of the interactions between these two systems, the present study aimed to climatologically compare two atmospheric reanalysis with respect to the energy of the sea surface winds to the Brazilian east/southeast continental shelf. The selected products were the Climate Forecast System Reanalysis (CFSR) and the ERA-Interim (ERAI), compared between 1979 and 2010 and validated according to Advanced Scatterometer (ASCAT) data between May/2007 and December/2010. Results demonstrated a clearly more energetic pattern of CFSR in relation to ERAI, either spatially and temporally, except for certain coastal areas. Quantitatively, the first product was 13% more intense on average and presented higher kinetic energy in 92% months between 1979 and 2010. The CFSR and the ERAI overestimated the ASCAT data by 8% and 2%, respectively, but satisfactorily adjusted, with low RMSE and high correlation coefficients. Then is suggested that the greater energy available in the CFSR was associated with its higher spatial resolution, which would allow a greater atmospheric phenomena sampling, and the best fit of the ERAI was a consequence of its more robust data assimilation method, which would compensate the less availability of in situ and remote data in South Atlantic.
Linguistic Corpora as International Cultural Heritage: The Corpus of Bulgarian and Ukrainian Parallel Texts

The paper relates about our ongoing work on the creation of a corpus of Bulgarian and Ukrainian parallel texts. We discuss some differences in the approaches and the interpretation of some concepts, as well as various problems associated with the construction of our corpus, in particular the occasional ‘nonparallelism’ of original and translated texts. We give examples of the a pplication of the parallel corpus for the study of lexical semantics and note the outstanding role of the corpus in the lexicographic description of Ukrainian and Bulgarian translation equivalents. We draw attention to the importance of creating parallel corpora as objects of national as well as global cultural heritage.
Transition Kinetics of Self-Assembled Supramolecular Dodecagonal Quasicrystal and Frank-Kasper σ Phases in ABn Dendron-Like Giant Molecules.

A series of noncrystalline ABn dendron-like giant molecules DPOSS-MPOSSn (n = 2-6, DPOSS: hydrophilic polyhedral oligomeric silsesquioxane (POSS) cage; MPOSS: hydrophobic POSS cage) were synthesized. These samples present a thermodynamically stable phase formation sequence from the hexagonal cylinder phase (plane group of P6mm), to the Frank-Kasper (F-K) A15 phase (space group of Pm3̅n), and further to the F-K σ phase (space group of P42/mnm), with increasing the number of MPOSS in a single molecule (n, from 2 to 6). Moreover, for DPOSS-MPOSS5 and DPOSS-MPOSS6, an intriguing dodecagonal quasicrystal (DQC) structure has been identified and revealed as a kinetic favorable metastable phase at lower temperatures, while the thermodynamically stable phase is the σ phase. The detailed investigation of the transition kinetics between the DQC and σ phase in these samples makes it possible to identify how the self-assembly directs the phase transition in terms of molecular and supramolecular aspects.
Motion Planning Under Uncertainty

A basic problem that has to be faced and solved by autonomous vehicles, on which this chapter will focus, is the problem of motion planning. It involves generation and execution of a plan for moving around an environment towards a designated goal, or to accomplish a desired task, while avoiding collisions with obstacles in the environment. Moreover, it is desirable to optimally use the available resources to achieve the goal, thereby minimizing some “cost” function. There are many established techniques to solve motion planning problem in a deterministic framework ranging from optimal control method [1], grid world approaches [2] to randomized sampling-based motion planners [2–4]. However, real-world systems are not deterministic, and their evolution involves uncertainty due to surrounding environments or internal parameter variance. Hence, in the real world, these deterministic algorithms are applied along with some trajectory tracking techniques, which accounts for the uncertainty in the system [5]. Another approach to solving the motion-planning problem is to take uncertainty into account while solving the problem. Introduction of uncertainty in the motion-planning problem increases the complexity of the problem. Uncertainty in the system can be caused by two scenarios, one due to sensing uncertainty and the other due to process uncertainty. Sensing uncertainty arises from sensor noise during measurements or an uncertain environment, that is, partial knowledge of obstacle locations in the given environment. The process uncertainty is the motion uncertainty due to presence of stochastic forcing in the system dynamics and controls.
Climate‐Sensitive Controls on Large Spring Emissions of CH4 and CO2 From Northern Lakes

Northern lakes are important sources of the climate forcing trace gases methane (CH4) and carbon dioxide (CO2). A substantial portion of lakes' annual emissions can take place immediately after ice melt in spring. The drivers of these fluxes are neither well constrained nor fully understood. We present a detailed carbon gas budget for three subarctic lakes, using 6 years of eddy covariance and 9 years of manual flux measurements. We combine measurements of temperature, dissolved oxygen, and CH4 stable isotopologues to quantify functional relationships between carbon gas production and conversion, energy inputs, and the redox regime. Spring emissions were regulated by the availability of oxygen in winter, rather than temperature as during ice‐free conditions. Under‐ice storage increased predictably with ice‐cover duration, and CH4 accumulation rates (25 ± 2 mg CH4‐C·m−2·day−1) exceeded summer emissions (19 ± 1 mg CH4‐C·m−2·day−1). The seasonally ice‐covered lakes emitted 26–59% of the annual CH4 flux and 15–30% of the annual CO2 flux at ice‐off. Reduced spring emissions were associated with winter snowmelt events, which can transport water downstream and oxygenate the water column. Stable isotopes indicate that 64–96% of accumulated CH4 escaped oxidation, implying that a considerable portion of the dissolved gases produced over winter may evade to the atmosphere.