Miracle-dz/UniFAR-FTUs huggingface dataset:
Synchronized Motion Profiles for Inverse-Dynamics-Based Online Control of Three Inextensible Segments of Trunk-Type Robot Actuators

This study proposes a novel method for the positioning and spatial orientation control of three inextensible segments of trunk-type robots. The suggested algorithm imposes a soft constraint assumption for the end-effector’s endpoint and a mandatory constraint on its direction. Simultaneously, the algorithm by-design enforces nonholonomic features on the robot segments in the form of arcs. An approximate robot spine curve is the key to the final robot state configuration based on the given conditions. The numeric simulation showed acceptable (less than 1 s) performance for single-core processing tasks. The parametric method finds the best proximate robot state solution and represents the gray box model in addition to existing learning or black-box inverse dynamics approaches. This study also shows that a multiple inverse kinematics answer constructs a single inverse dynamics solution that defines the robot actuators’ motion profiles, synchronized in time. Finally, this text presents rotational expressions and their outlines for controlling the manipulator’s tendons.
Potency of Solid Lipid Nanoparticle (SLN)-Modified Luteolin-based Polyethylene Glycol (PEG) on Allium fistulosum as Innovation Therapy of Malaria Falciparum

In 2013, 198 million cases of malaria were reported globally and 584,000 of them died. As much as 78% of cases occurred in children under five years of age. Indonesia is a has the second highest malaria incidence rate after India in the Asian region. Severe malaria can be characterized by the presence of severe anaemia, hyperparasitemia or cerebral malaria. Severe anaemia due to malaria or severe malaria anaemia (SMA) often occurs in children who suffer from falciparum malaria. SMA occurs due to a decrease in COX-2-PGE2, caused by phagocytosis of PfHz (Plasmodium falciparumderived Hemozoin) by monocytes, macrophages and neutrophils. PfHz is a crystalline compound formed from the aggregation of heme hosts. Fe2+ is one of the constituents of heme, luteolin can bind Fe2+ so that the bond between luteolin and Fe2+ in heme prevents the formation of PfHz, so that severe anaemia can be prevented. Like other naturally occurring active compounds, luteolin has low bioavailability in the body so it is encapsulated using Solid Lipid Nanoparticles (SLN) and Polyethylene Glycol (PEG). SLN is useful for increasing the bioavailability of luteolin in the body, while PEG is useful for preventing the destruction of luteolin-SLN by RES. The modified construction process includes the following steps: (1) luteolin extraction from Allium fistulosum and (2) luteolin encapsulation using SLN-PEG. The potential dose to be administered orally to humans is 2.43–8.11 μg/kg body weight.
Membrane protein reconstitution in nanodiscs for luminescence spectroscopy studies

Abstract ATP-binding cassette (ABC) exporters transport substrates across biological membranes using ATP hydrolysis by a process that involves switching between inward- and outward-facing conformations. Most of the structural studies of ABC proteins have been performed with proteins in detergent micelles, locked in specific conformations and/or at low temperature. In this article, we present recent data from our laboratories where we studied the prototypical ABC exporter MsbA during ATP hydrolysis, at 37°C, reconstituted in a lipid bilayer. These studies were possible through the use of luminescence resonance energy transfer spectroscopy in MsbA reconstituted in nanodiscs. We found major differences between MsbA in these native-like conditions and in previous studies. These include a separation between the nucleotide-binding domains that was much smaller than previously thought, and a large fraction of molecules with associated nucleotide-binding domains in the nucleotide-free apo state. These studies stress the importance of studying membrane proteins in an environment that approaches physiological conditions.
A Circular Economy for Phosphorus in Sweden—Is it Possible?

More sustainable management of phosphorus requires comprehensive understanding of phosphorus stocks and flows. With the purpose of shedding light on the possibilities for an increased level of recirculation of phosphorus in Sweden, phosphorus flows entering and exiting biomass production sectors were quantified along with waste flows, that is, flows that are not currently utilized in biomass production. Relevant waste flows were also characterized in terms of phosphorus concentration, plant availability, contamination and geo-spatial distribution. The theoretical recirculation potential of phosphorus in Sweden was then estimated. The results indicate that there is a large potential for making phosphorus management more circular, especially regarding the utilization of phosphorus in sewage sludge as well as wood ashes from the forestry sector. Moreover, there is a large amount of phosphorus in mining waste that could potentially be used for fertilizer production. It is concluded that the amount of phosphorus in flows fit for recirculation in forestry could more or less balance today’s output. In agriculture, however, recirculation can only sufficiently replace imported mineral phosphorus at current demand if the phosphorus in mining waste is utilized. Thus, if the goal is to replace all of the mineral phosphorus, the agricultural sector also has to become much more efficient in its phosphorus usage.
Learning a Swarm Foraging Behavior with Microscopic Fuzzy Controllers Using Deep Reinforcement Learning

This article presents a macroscopic swarm foraging behavior obtained using deep reinforcement learning. The selected behavior is a complex task in which a group of simple agents must be directed towards an object to move it to a target position without the use of special gripping mechanisms, using only their own bodies. Our system has been designed to use and combine basic fuzzy behaviors to control obstacle avoidance and the low-level rendezvous processes needed for the foraging task. We use a realistically modeled swarm based on differential robots equipped with light detection and ranging (LiDAR) sensors. It is important to highlight that the obtained macroscopic behavior, in contrast to that of end-to-end systems, combines existing microscopic tasks, which allows us to apply these learning techniques even with the dimensionality and complexity of the problem in a realistic robotic swarm system. The presented behavior is capable of correctly developing the macroscopic foraging task in a robust and scalable way, even in situations that have not been seen in the training phase. An exhaustive analysis of the obtained behavior is carried out, where both the movement of the swarm while performing the task and the swarm scalability are analyzed.
Improving the Laser Texture Strategy to Get Superhydrophobic Aluminum Alloy Surfaces

Changing the wetting properties of surfaces is attracting great interest in many fields, in particular to achieve a surface with a superhydrophobic behavior. Laser machining is an emerging technique to functionalize materials with high precision and flexibility without any chemical treatment. However, when it is necessary to treat large area surfaces laser-based methods are still too slow to be exploited in industrial productions. In this work, we show that by improving the laser texture strategy it is possible to reduce the laser processing time to produce superhydrophobic aluminum alloy surfaces. Three different surface texture geometries were micromachined; namely, square, circular and triangular lattice grooves. We found that if the spacing between the grooves is narrow, i.e., when the percentage of the textured surface is high, the volume of air trapped inside the micromachined structures plays an important role in the wetting behavior. Meanwhile, when the groove spacing approaches the droplet dimensions, the texture geometry has a preponderant influence. Based on these findings an appropriate choice of the laser texture strategy allowed the fabrication of superhydrophobic aluminum alloy surfaces with a 10% reduction of processing time.
Powering Post-COVID-19 Resilient Recovery with Green Stimulus

Introduction As the coronavirus (COVID-19) pandemic spread globally in early 2020, many governments enacted lockdown measures as an initial containment response. These lockdowns, while effective in slowing infection rates, have also had substantial economic consequences. A series of supply and demand shocks, workforce and supply chain disruptions, and other impacts of the pandemic and ensuing lockdowns have upended the livelihoods for much of the world’s population. The International Monetary Fund estimates, as of this writing, that global growth in 2020 will contract -4.4%. Other thought leaders anticipate that before the disease runs its course, COVID-19 will likely lead to a fundamental restructuring for many major economies (IMF 2020; KPMG 2020a).
Creating value with sustainable production based on real-time simulation

This chapter describes research into physics-based real-time simulation from a business perspective and provides guidance for further studies. Despite the increasing amount of research into simulator-driven design and production, little progress has been made towards understanding the complexities of its implementation, its effect on business models, and how it can best be applied to create value for the customer. There seems to be agreement in the literature that this type of digital transformation of industry is beneficial, but many of the business issues remain unclear. The following paragraphs seek to encourage a new way of looking at real-time simulation studies. The chapter concludes with an illustration of sustainable value creation using real-time simulation and digital twinning and a number of concrete suggestions for questions that should be answered in future research.
Thallium uptake/tolerance in a model (hyper)accumulating plant: Effect of extreme contaminant loads

Thallium (Tl) is a toxic trace element with a highly negative effect on the environment. For phytoextraction purposes, it is important to know the limitations of plant growth. In this study, we conducted experiments with a model Tl-hyperaccumulating plant (Sinapis alba L., white mustard) to better understand the plant tolerance and/or associated detoxification mechanisms under extreme Tl doses (accumulative 0.7/1.4 mg Tl, in total). Both the hydroponic/ semi-hydroponic (artificial soil) cultivation variants were studied in detail. The Tl bioaccumulation potential for the tested plant reached up to 1% of the total supplied Tl amount. Furthermore, it was revealed that the plants grown in the soil-like system did not tolerate Tl concentrations in nutrient solutions higher than ~1 mg/L, i.e., wilting symptoms were evident. Surprisingly, for the plants grown in hydroponic solutions, the tolerable Tl concentration was by contrast at least 2-times higher (≥ 2 mg Tl/L), presumably mimicking the K biochemistry. The obtained hydroponic/semi-hydroponic phytoextraction data can serve, in combination, as a model for plant-assisted remediation of soils or mining/ processing wastes enriched in Tl, or possibly for environmental cycling of Tl in general.
Quantifying technical actions in professional soccer using foot-mounted inertial measurement units

ABSTRACT Objectives This study aimed to (i) establish the concurrent validity and intra-unit reliability of a foot-mounted inertial measurement unit for monitoring soccer technical actions, (ii) quantify the within-microcycle inter-positional differences in the technical actions of professional soccer training, and (iii) determine the influence of drill category on the technical actions of professional soccer training. Methods Twenty-one professional soccer players’ technical performance data (ball touches, releases, ball touches per minute, releases per minute), collected during training sessions throughout twenty-four weekly microcycles, were analysed using general linear modelling. Results The inertial measurement unit exhibited good concurrent validity (PA = 95.1% – 100.0%) and intra-unit reliability (PA = 95.9% – 96.9%, CV = 1.4% – 2.9%) when compared with retrospective video analyses. The most ball touches ( = 218.0) and releases ( = 110.8) were observed on MD – 1, with MD – 5 eliciting the highest frequency of ball touches ( = 3.8) and releases ( = 1.7) per minute. Central midfielders performed the most ball touches ( = 221.9), releases ( = 108.3), ball touches per minute ( = 3.4) and releases per minute ( = 1.6). Small-sided games evoked more ball touches ( diff = 1.5) and releases per minute ( diff = 0.1) than previously reported in match-play. The fewest ball touches ( = 1.2) and releases per minute ( = 0.5) were observed during tactical drills. Conclusion The results of this study provide a novel understanding of the within-microcycle, inter-positional and drill category differences in the technical actions performed by professional players during training.
Olimpíadas Brasileiras de Biologia

In the context of knowledge research, this article analyzes the issues of the Brazilian Biology Olympics (OBB) between 2007 and 2016. Three questions were investigated: the area of biology to which they refer; with other domains of knowledge can be interdisciplinary; and the competences of the High School that they mobilize. It is observed that there is a great variety of characteristics of Biology, emphasizing a second stage; on the other hand, as the new interdisciplinary interdicted forces. Geography and Mathematics stand out as more related areas of knowledge. With the objective of "mobilizing the hands of the High School", "M6 Understanding methods and the actioner's didys of the actions are natural and apply them to different contexts". A similar profile to the ENEM test was identified in the OBB tests, with 1 Departamento de Ensino, Pesquisa e Extensão, Instituto Federal de Educação, Ciência e Tecnologia Sulrio-grandense IFSul, Lajeado/RS – Brasil. E-mail: wemersoncb@yahoo.com. br 2 E-mail: nitinhadiniz@hotmail.com 3 E-mail: juliafavaretto08@gmail.com 4 E-mail: santoseduardac6@gmail.com 5 E-mail: allynneavylla@gmail.com 6 E-mail: deniseeafs@gmail.com 7 E-mail: amilcarchicago@yahoo.com. br 53 Revista Thema v.19 n.1 2021 contextualizations, interdisciplinary relationships and an extension of several required disciplines.
Hematopoetik Kök Hücre Transplantasyonu Sonrası Yaşam: Hemşirenin Bakım Rolü

Hematopoetik kok hucre transplantansyonu (HKHT), yuksek riskli, ancak iyilestirici bir tedavidir. HKHT’de her asama onemli olmakla birlikte tedavi surecindeki gecisler bireyin sag kaliminda anahtar rol oynamaktadir. HKHT hastalarinda taburculuk sonrasi surecte takip ve yonetim zordur. Birey, nakil merkezinden sonra cesitli sorunlarla karsi karsiyadir. HKHT taburculuk sonrasi surecte bireylerin en sik karsilastigi gec komplikasyonlar; graft versus host hastaligi (GVHD), enfeksiyoz komplikasyonlar, yorgunluk, sosyal uyumsuzluk (cinsellik, ise donus), psikolojik sikinti (depresyon, anksiyete) ve sekonder malign hastaliklardir. Birey maruziyetlerine dayali olarak tarama ve onleyici yasam boyu takibi gerekli olan bu ozel grubun degerlendirilmesinde hemsirelik bakimi, bireye ve aileye rehberlik etmek ve tavsiyede bulunmak icin en iyi konumdadir. Bireylerin uzun vadeli sagligini korumak icin hasta merkezli ve multidisipliner koordineli hemsirelik bakimi saglanmalidir. Bu derlemenin amaci, hematolojik maligniteleri olan yetiskinler icin HKHT taburculuk sonrasi yasamla ilgili guncel literaturun kapsamli genel gorunumunu saglamaktir ve taburculuk sonrasi hemsirelik bakimini vurgulamaktir.
Global Point Prevalence Survey in Five Teaching Hospitals in Baghdad, Iraq

Published: 20 March 2021 Address for Correspondence/Yazışma Adresi: Jaafer M. Kurmanji MD, University Sciences Malaysia, School of Pharmaceutical Sciences, Penang, Malaysia E-mail: phjaafer_m@yahoo.com ORCID ID: orcid.org/0000-0003-3216-2736 Received/Geliş Tarihi: 21.02. 2020 Accepted/Kabul Tarihi: 12.03. 2021 ©Copyright 2021 by the Infectious Diseases and Clinical Microbiology Specialty Society of Turkey Mediterranean Journal of Infection, Microbes and Antimicrobials published by Galenos Yayınev
Data Privacy: A Driver for Competitive Advantage

In light of the data economy, data protection law is a key legal element for being able to leverage data-driven innovation and is often regarded as a limitation for businesses and service design. Contrasting this traditional view, this chapter argues why designing with privacy in mind is a win-win situation, not only, but especially in the context of data-based services. On the backdrop of new regulations around the globe setting incentives, we show how research in the domain of usable privacy can be leveraged to embed innovative privacy features for customers into digital services as competitive advantage. Building upon these insights, we argue that a well-designed privacy and/or data protection process should be a key element for customer experience management.
Global mantle flow retrodictions for the early Cenozoic using an adjoint method: evolving dynamic topographies, deep mantle structures, flow trajectories and sublithospheric stresses

During the Cenozoic, the Earth experienced multiple first-order geological events that are likely mantle flow related. These include the termination of large-scale marine inundation in North America in the Palaeocene, the late Tertiary rise of Africa relative to other continents and the long-wavelength tilting of Australia since the late Cretaceous, which occurred when the continent approached the southeast Asia subduction systems on its northward passage from Antartica. Here we explore a suite of eight high-resolution, compressible, global mantle flow retrodictions going back to 50 Ma, using an adoint method with $\approx$670 million finite elements. These retrodictions show for the first time that these events emerge jointly as part of global Cenozoic mantle flow histories. Our retrodictions involve the dynamic effects from an upper mantle low-viscosity zone, assimilate a past plate-motion model for the tangential surface velocity field, probe the influence of two different present-day mantle state estimates derived from seismic tomography, and acknowledge the rheological uncertainties of dynamic Earth models by taking in four different realizations for the radial mantle viscosity profile, two of which were published previously. We find the retrodicted mantle flow histories are sensitive to the present-day mantle state estimate and the rheological properties of the Earth model, meaning that this input information is testable with inferences gleaned from the geological record. For a deep mantle viscosity of $1.7\times 10^{22}$ Pa s and a purely thermal interpretation of seismic structure, lower mantle flow velocities exceed 7 cm yr–1 in some regions, meaning they are difficult to reconcile with the existence of a hotspot reference frame. Conversely, a deep mantle viscosity of $10^{23}$ Pa s yields modest flow velocities (< 3 cm yr–1 ) and stability of deep mantle heterogeneity for much of the retrodiction time, albeit at the expense that African uplift is delayed into the latest Neogene. Retrodictions allow one to track material back in time from any given sampling location, making them potentially useful, for example, to geochemical studies. Our results call for improved estimates on non-isostatic vertical motion of the Earth’s surface—provided, for instance, by basin analysis, seismic stratigraphy, landform studies, thermochronological data or the sedimentation record—to constrain the recent mantle flow history and suggest that mantle flow retrodictions may yield synergies across different Earth science disciplines.
Banka Kârlılığına Etki Eden Mikro Değişkenler: Türk Bankacılık Sektöründeki Yerli Ve Yabancı Bankalar Üzerine Bir Araştırma1 (Micro-Variables That Affect Bank Profitability: A Research on The Domestic and Foreign Banks in Turkish Banking Sector)

gerçekleştirilen, “4. International EMI Entrepreneurship and Social Sciences” kongresinde bildiri olarak sunulan çalışmanın genişletilmiş halidir. Önerilen Atıf/ Suggested Citation Çelik, S. , Kaya, F. (2021). Banka Kârlılığına Etki Eden Mikro Değişkenler: Türk Bankacılık Sektöründeki Yerli Ve Yabancı Bankalar Üzerine Bir Araştırma, İşletme Araştırmaları Dergisi, 13 (1), 719-738. İŞLETME ARAŞTIRMALARI DERGİSİ JOURNAL OF BUSINESS RESEARCH-TURK 2021, 13(1), 719-738 https://doi.org/10.20491/isarder.2021. 1162
INDONESIAN MATHEMATICS TEACHERS’ KNOWLEDGE OF CONTENT AND STUDENTS OF AREA AND PERIMETER OF RECTANGLE

Measuring teachers' skills and competencies is necessary to ensure teacher quality and contribute to education quality. Research has shown teachers competencies and skills influence students’ performances. Previous studies explored teachers’ knowledge through testing. Teachers' knowledge of the topic of area-perimeter and teaching strategies has been assessed through testing. In general, items or tasks to assess mathematics teacher knowledge in the previous studies were dominated by subject matter knowledge problems. Thus, it seems that the assessment has not fully covered the full range of teacher knowledge and competencies. In this study, the researchers investigated mathematics teachers’ Knowledge of Content and Students (KCS) through lesson plans developed by the teachers. To accommodate the gap in the previous studies, this study focuses on KCS on the topic of areaperimeter through their designed lesson plans. Twenty-nine mathematics teachers attended a professional development activity voluntarily participated in this study. Two teachers were selected to be the focus of this case study. Content analysis of the lesson plan and semi-structured interviews were conducted, and then data were analyzed. It revealed that the participating teachers were challenged when making predictions of students' possible responses. They seemed unaware of the ordinary students' strategies used to solve maximizing area from a given perimeter. With limited knowledge of students' possible strategies and mistakes, these teachers were poorly prepared to support student learning.
Effect of nucleating agents and stabilisers on the synthesisof Iron-Oxide Nanoparticles-XRD analysis

Iron nanoparticles were made by using the modified coprecipitation technique. Usually the characteristics of synthesised particles depend upon the process parameters such as the ratio of the iron ions, the pH of the solution, the molar concentration of base used, type of reactants and temperature. A modified coprecipitation method was adopted in this study. A magnetic stirrer was used for mixing and the morphology and nature of particles were observed after synthesis. Nanoparticles were characterised through XRD. Obtained nanoparticles showed the formation of magnetite and maghemite under citric acid and oxalic acid as stabilisers respectively. The size of nanoparticle was greatly affected by the use of different types of stabilisers. Results show that citric acid greatly reduced the obtained particle size. Particle size as small as 13 nm was obtained in this study. The effects of different kinds of nucleating agents were also observed and two different types of nucleating agents were used i.e. potassium hydroxide (KOH) and copper chloride (CuCl2). Results show that the use of nucleating agent in general pushes the growth phase of nanoparticles towards the end of coprecipitation reaction. The particles obtained after addition of nucleating agent were greater in size than particles obtained by not utilising any nucleating agent. These particles have found widespread use in medical sciences, energy conservation and electronic sensing technology.