Miracle-dz/UniFAR-FTUs huggingface dataset:
Pose Estimation and Traction Control for a Planetary Exploration Rover

Planetary rovers are one of the key elements for extraterrestrial on-surface exploration in our solar system, increasingly relying on autonomous robots. The Lightweight Rover Unit (LRU) developed by the Robotics and Mechatronics Center (RMC) of the German Aerospace Center (DLR) is a terrestrial prototype of an autonomous planetary exploration rover. It features autonomy both in exploration and manipulation of the environment and is designed specifically for rough terrain locomotion. Successful autonomous navigation requires correct knowledge of the current rover pose for which the LRU fuses the information of several sets of sensors using an extended Kalman filter. This includes the information obtained from the wheels: the wheel odometry. This master’s thesis focuses on implementing a slip-aware three-dimensional wheel odometry that allows to improve the overall pose estimate. The computation of the wheel odometry requires a kinematic model of the rover, which is derived and calibrated. The calibration process includes correction of the geometrical measures, selection of sensor signals, and modeling of the elasticity of system components. In rough terrain locomotion, the major error source for wheel odometry is wheel slip, degrading the accuracy of the pose estimate. The thesis provides a method to account for wheel slip and shows its successful application in experiments. At first, methods for direct slip measurement are briefly investigated. As these turn out to be not applicable, a method for slip estimation utilizing a velocity-error-model is used instead. The velocity-error-model is terrain-dependent, a dependency which is modeled by parameters and is determined experimentally. The obtained information on slip is additionally used to improve the driving performance of the LRU. Therefore, a concept for traction control is presented that reduces acceleration and velocity of the rover according to the detected slip. This concept is validated by showing the improved driving performance in experiments. The LRU was part of a test campaign on the volcano Mt. Etna in Italy that emulated lunar on-surface operation. There, the volcanic rough terrain environment allowed the rover to fully demonstrate its off-road capabilities. The master’s thesis was written in the context of this moon analogue mission and most experiments were performed on-site. The slip model is parameterized for the volcanic soil and is validated during a long-range driving test on Mt. Etna, featuring a trajectory close to one kilometer in length.
Project Number: KLB-0602 DESIGN OF A REPRODUCIBLE MURINE FEMORAL FRACTURE DEVICE A Major Qualifying Project Report: Submitted to the Faculty

Mouse models are commonly used to investigate bone healing and test new treatments. The objectives of this project were to design a fracture device to create a reproducible transverse fracture in the mouse femur and to establish the limits of achieving transverse fractures. Testing with 26.4±6.1g wildtype mice (n=120) developed a model equation of to predict a 95% transverse fracture success rate. These results are useful to researchers who are interested in obtaining a higher transverse fracture success rate. 292 . 0 2 = mv
Numerical analysis of the integration of wind turbines into the design of the built environment

The effect of wind distribution on the architectural domain of the Bahrain Trade Centre was numerically analysed using Computational Fluid Dynamics (CFD). Using the numerical data, the power generation potential of the building integrated wind turbines was determined in response to the prevailing wind direction. Simulating a reference wind speed of 6 m/s, the findings from the study quantified an estimate power generation of 6.4 kW indicating a capacity factor of 2.9% for the computational model. At the windward side of the building, it was observed that the layers of turbulence intensified in inverse proportion to the height of the building with an average value of 0.45 J/kg. The air velocity was found to gradually increase in direct proportion to the elevation with the turbine located at higher altitude receiving maximum exposure to incoming wind. This study highlighted the potential of using advanced computational fluid dynamics in order to factor wind into the design of any architectural environment.
Studying Efficacy of Organizational and Conceptual Factors on Manager's Decision

The purpose of the present research is to investigate the impact of organizational factors on the styles ofmanager's decision makings and the difference between the perception of managers and employees of thestyles used by managers in India. On this basis, 100 manager and 500 employees has been chosen asstatistical sample. The analytical model of this study is based on General Decision Making Style by Scottand Bruce. Questionnaire validity, content validity and compatibility based on 10 experts and professors aswell as the experimental implementation of the questionnaire between 20 managers and 100 employees andalso analyzing exploratory factor for both questionnaires were checked. According to the Kolmogorov -Smirnov test results have confirmed the normal distribution of the data thus confirmed chi-square test,one-way multivariate analysis of variance (MANOVA) and the two samples T of Friedman were used. Keywords : General decision-making style, organization's size, position of manager, perception difference,government organizations
Antioxidant potential of Shivanarvembu Kuzhi

Shivanar VembuKuzhi Thailam (SVKT) is a poly herbal sidhha drug used for the skin care ailments. The aim of the current study is to evaluate the antioxidant potential of SVKT in the cell free systems. The antioxidant radical scavenging effect of SVKT was evaluated against the free radicals like DPPH radical, superoxide radical, hydroxyl radical, nitric oxide radical, non-enzymatic glycosylation of hemoglobin. The total phenols and the flavonoids were quantified in SVKT. From the results, it can be concluded that, the SVKT exerts the excellent antioxidant potential due to the presence of the polyphenols and flavonoinds.
EKOCA: Energy Aware Overlapping Multihop Clustering for Wireless Sensor Networks

Among the algorithms developed for Wireless Sensor Networks is Overlapping Multihop Clustering. Overlapping clusters are useful in many network applications, such as intercluster routing, node localization and time synchronization protocols. In some environments, especially hostile, sens or nodes are always left unattended and there is no way to recharge them or exchange their batteries. Therefore, use o f energy is a key issue in designing protocols for sensor netwo rks in order to extend the network lifetime. In this work, we present a distributed energy aware overlapping multihop clustering algorithm based on the remaining energy of the sensors. Each node first elects itself as a cluster head according to a certa in probability. During the next rounds, cluster head nodes sel ect the new cluster head nodes based on the remaining energy of the sensor nodes in their clusters. The node with the highest remaining energy within a certain range from the cluster head node is elected to be the new cluster head node. The clusterin g process terminates in O(1) iterations and does not depend on the network topology or size. This algorithm is evaluated us ing NS2 Simulator. The proposed algorithm is intended to help in extending the life time of the network and balancing the ener gy consumption among different nodes by rotating the cluster head role. Keywords-Clustering; energy aware clustering; multihop clustering; overlapping clustering; sensor networks
Understanding Tree Fruit Quality Based on Consumer Acceptance

In recent years, we have been developing stone fruit quality indexes based on consumer acceptance and fruit market life with the main goal of increasing fruit consumption. To reach this goal we have taken the following steps: First, we conducted soluble solids concentration (SSC) and titratable acidity (TA) surveys, which indicated the potential fruit quality range for these cultivars within the industry. Second, we investigated the potential role of preharvest factors on these quality attributes. Third, we segregated cultivars according to a trained panel’s perception of the predominant sensory attributes: sweetness, sourness, and fruit flavor and aroma intensity. Finally, we used the above data to design large “in store” consumer tests within each sensory classification group. After completion of these steps, the industry will have the solid information it needs to propose a flavor code classification with fruit quality standards specific to each potential sensory classification group.
Customer Process Management: A Systematic Literature Review

Customer Process Management (CPM) is not a new term. This phrase has been emerged in academic article since 1999. The CPM expression has received increasing attention from researcher, consultants, practitioner from technology and application firms. The consultants and practitioners introduced customer process management software during 2003-2008 since most Customer Relationship Management (CRM) initiatives failed. The following years, CPM attracted less attention from academics as well as practitioners, until Prof. Michael Rosemann in 2014, a Business Process Management (BPM) leading expert, called for new BPM research directions. One of his suggestions was to conduct research in CPM, which will complement the dominating current view of BPM. To the best of our knowledge, there is no literature review article to examine CPM. Therefore, the research question of this paper: What is the current state-of-the-art research on CPM in academic literature? This research questions will be breakdown into two research objectives. First, present an overview of existing academic literature on CPM. Second, develop potential topics for future research in this field. The results of this study show that there are many opportunities to conduct research in this area.
Effect of Relocation and Rotation on Radial Efficiency Scores for a Partially Negative Data Problem

Negative data handling has gained a remarkable importance in the literature of Data Envelopment Analysis (DEA) to address many real life problems. Various erstwhile applications, in this arena, referred relocation of the origin to a superior (RDM) or to an inferior (Translated Input Oriented BCC) neighboring point. In this paper, the conditions for Rotation Invariance of various Data Envelopment Analysis models are discussed. Specifically, in presence of partially negative data, a rotation using the Cone Ratio model, beyond a threshold value of the oblique index does not alter the efficient frontier. So, a solution can be obtained without relocating the origin. In this context, two models, termed as Input Oriented BCC model with Relocated Origin (IOBCC-RO) and Input oriented BCC model with Rotated Axis (IOBCC-RA), are applied on a case of "the notional effluent processing system" (from Sharp et al (2006)) to observe their impact on the radial efficiency scores.
Experimental influence of pH on the early life-stages of sea urchins I: different rates of introduction give rise to different responses

Many early life-stage response studies to ocean acidification utilize gametes/offspring obtained from ambient-sourced parents, which are then directly introduced to experimentally altered seawater pH. This approach may produce a stress response potentially impacting development and survival. Hence, this study determined whether this approach is suitable by subjecting embryos/larvae to different rates of introduction to lowered seawater pH to assess larval success under acute and staggered experimental pH scenarios. Embryos and 4-armed larvae of the sea urchin Psammechinus miliaris were introduced to pH conditions, widely used in ocean acidification studies, from ambient conditions utilizing 380, 470, 560, 700 and 840 ppm CO2 changed at incremental steps at two rates: fast (every 3rd hour) or slow (every 48th hour). Direct transfers from ambient to low seawater pH gave rise to dramatic negative impacts (smaller size and low survival), but slower rates of introductions gave rise to lesser negative responses (low survival). There was no treatment effect on settled juveniles. Fast introductions utilized in many studies are likely not ideal approaches when assessing pre-settlement larval developmental responses. Therefore, careful consideration of the pattern of response is needed when studies report the responses of offspring, derived from ambient conditions, introduced directly to forecasted ocean acidification conditions.
Attitudes of Japanese Adults toward Persons with Intellectual Disability: Relationship between Attitudes and Demographic Variables

Parents of pupils who were attending elementary schools in a typical medium-size city of Japan were surveyed. Respondents who had a close friend who has a person with intellectual disability (ID) as a family member or who had experience of voluntary work or job-related contact showed clear favorable attitudes. However, they differed greatly from respondents who have a person with ID in the family in their ideas of independent life of people with ID. Respondents who have a relative with ID did not show as favorable attitudes as expected, and showed only a small degree of concern for ID problems. Question-items were examined individually to determine external validity for an attitude test, using the criterion of the family variable results.
Applying global time Petri net analysis on the embedded software context

This paper presents an application of Global Time technique (GTT) which is an approach to construct class graphs of Time Petri nets based on relative and global time. Besides the constructing of GTT class graph we propose a schedulability analysis of quantitative time type for fixed priority policies and Earliest Deadline First (EDF). We propose that analysis of scenarios, or behavior itineraries duration of a system, can be done using this approach.
Personal Monitor for Evaluation of Human Functional State

The aim of this work was to develop algorithms and software for personal monitor of human functional state evaluation. Two software packages were developed: one – for continuous on-line analysis of monitored vital signals (ECG, motion activity) with the generation objective feedback to patient and second - for comprehensive off-line analysis of storage data during long-term (24 hours) patient monitoring for diagnostic purposes. The method of breathing frequency evaluation from ECG parameters was developed. One investigation for sportsmen during physical load showed the good agreement with real situation. The developed personal monitor with software for patient functional state evaluation is required to test according standard IEC 60601-2-47:2001 for monitoring heart failure patients at home conditions. Ill. 10, bibl. 6 (in English; summaries in English, Russian and Lithuanian).
The Views of Corporate Managers on the Current State of, and Future Prospects for, Social Reporting in Bangladesh: An Engagement Based Study

Purpose - This paper seeks to respond to recent calls for more engagement-based studies of corporate social reporting (CSR) practice by examining the views of corporate managers on the current state of, and future prospects for, social reporting in Bangladesh. Design/methodology/approach - The paper uses a series of interviews with senior managers from 23 Bangladeshi companies representing the multinational, domestic private and public sectors. Findings - Key findings are that the main motivation behind current reporting practice lies in a desire on the part of corporate management to manage powerful stakeholder groups, whilst perceived pressure from external forces, notably parent companies' instructions and demands from international buyers, is driving the process forward. In the latter context it appears that adoption of international social accounting standards and codes is likely to become more prevalent in the future. Reservations are expressed as to whether such a passive compliance strategy is likely to achieve much in the way of real changes in corporate behaviour, particularly when Western developed standards and codes are imposed without consideration of local cultural, economic and social factors. Indeed, such imposition could be regarded as little more than an example of the erection of non-tariff trade barriers rather than representing any meaningful move towards empowering indigenous stakeholder groups. Originality/value - The paper contributes to the literature on CSR in developing countries where there is a distinct lack of engagement-based published studies.
IS INTERNET AN ACCESSIBLE LEARNING RESOURCE FOR SIGHT-IMPAIRED STUDENTS?

The importance of Internet use in education is widely recognized. Advanced net-technologies can well improve the quality of learning by facilitating access to educational resources and services and also by providing new and enlarged opportunities for interpersonal communication thus allowing for meaningful, content-rich and educationally effective exchanges. Online learning environments offer to students interesting, flexible and highly customizable learning solutions and, generally speaking, are characterized by a high degree of usability and ease to use. Despite this, if we take into account students with disabilities, we see that a number of accessibility issues often arise that make web use highly problematic for them with the upshot that the differences are exacerbated rather than smoothed out. In this paper we take the viewpoint of sight-impaired students and try to answer the research question whether can Internet be considered an accessible learning resource for them and/or to what extent. In particular, we explore the specific difficulties that pupils with visual impairment encounter when surfing the net with the aim of exploring, retrieving and using webbased educational material. In the light of the accessibility principles of the Web Content Accessibility Guidelines (WCAG), the specific requirements for low vision and blind students are examined and possible solutions are envisaged and discussed.
The role of social science in the governance and management of wildland fire

Global social-economic and environmental changes are increasing the challenges of wildfire risk management. Addressing these challenges requires perspectives beyond knowledge of the bio-physical dynamics of fire. This Special Section provides some such perspectives, including safety, children's understanding of the risk, indigenous knowledge of fire, and ‘shared responsibility’. Each paper highlights important challenges and ideas for fire management.
Relationships Between Bacterioplankton, Zooplankton and Environmental Factors in Fertilized and Non-fertilized Carp Fishponds

Abstract: The shifts in bacterioplankton number, biomass and size structure were investigated in two ponds with carp polyculture, manured with organic fertilizer, and two non-fertilized ones. Relationships between bac-terioplankton, zooplankton and environmental factors, explained in “microbial food web” and the “trophic cascade” conceptions, were studied. Bacterioplankton abundance distribution in four size groups of free-living and one group of attached on detritus particles bacterial cells was established with clear prevalence of the smallest size group, 0.25-0.4 μm. The applied statistical analyses showed relationships between abundances of bacterial size groups, on one hand, and cladocerans biomass, the number of Moina sp . and two environmental factors, pH and temperature, on the other. Key words : bacterioplankton size structure, microbial food web, trophic cascade, organic fertilizer. * Corresponding author Introduction Bacterioplankton is the most abundant community in the pelagial. However, its signiﬁ cance in trophic interactions has been underestimated. For a long time the aquatic bacteria have been considered only decomposers of the dead organic matter. After a se-ries of investigations (A
Cl cosmogenic dating and glacier modeling

Forty-four boulders from moraines in two glacial valleys of Mount Erciyes (38.53 N, 35.45 E, 3917 m), central Turkey, dated with cosmogenic chlorine-36 (36Cl), indicate four periods of glacial activity in the past 22 ka (1 ka1⁄4 1000 calendar years). Last Glacial Maximum (LGM) glaciers were the most extensive, reaching 6 km in length and descending to an altitude of 2150 m above sea level. These glaciers started retreating 21.3 0.9 ka (1s) ago. They readvanced and retreated by 14.6 1.2 ka ago (Lateglacial), and again by 9.3 0.5 ka ago (Early Holocene). The latest advance took place 3.8 0.4 ka ago (Late Holocene). Using glacier modeling together with paleoclimate proxy data from the region, we reconstructed the paleoclimate at these four discrete times. The results show that LGM climate was 8–11 C colder than today and moisture levels were somewhat similar to modern values, with a range between 20% more and 25% less than today. The analysis of Lateglacial advance suggests that the climate was colder by 4.5–6.4 C based on up to 1.5 times wetter conditions. The Early Holocene was 2.1–4.9 C colder and up to twice as wet as today, while the Late Holocene was 2.4–3 C colder and its precipitation amounts approached to similar conditions as today. Our paleoclimate reconstructions show a general trend of warming for the last 22 ka, and an increase of moisture until Early Holocene, and a decrease after that time. The recent glacier terminates at 3450 m on the northwest side of the mountain. It is a remnant from the last advance (possibly during the Little Ice Age). Repeated measurements of glacier length between 1902 and 2008 reveal a retreat rate of 4.2 m per year, which corresponds to a warming rate of 0.9–1.2 C per
Recent Developments in Training: The Emergence of 'Embedding' in State Policy

Up until recently, the dominant response from western governments to the problem of youth unemployment has been to promote a high-wage/high-skill training strategy. Accordingly, governments have invested heavily in training programmes designed to improve the human capital of young people and, therefore, their chances the open labour market. However, to date, this strategy has not been effective, and youth unemployment remains high. The contention of this paper is that although high-wage/high-skill training strategy remains a powerful force for mobilising consent for new training initiatives, faith in this strategy has waned amongst policy makers. This claim is evidence through drawing on two recent initiatives designed to improve school-to-work/welfare-to-work transitions (Skill New Zealand & Enterprise and Career Education Foundation). Evidence suggests that policy makers and practitioners have adopted two, inter-related strategies for solving youth unemployment. The first of these is to employ brokers to generate employment opportunities on behalf of job seekers and the State. The second is to focus on soft skill development in an attempt to improve job seekers' 'employability'. Combined, these factors suggest that economic interactions remain embedded in the social infrastructure and that the State is attempting to prepare young people for the contingent labour market.