Miracle-dz/UniFAR-FTUs huggingface dataset:
Longitudinal and lateral control using global decentralized strategy with a comparison of different approaches for autonomous vehicles convoy

In this paper, a longitudinal and lateral control approach is proposed for a convoy of multi vehicles. A global decentralized architecture based on the information from neighbors and the leader vehicle is used, to ensure stability and safety between neighbors. Lateral control based on the longitudinal speed of the i -th vehicle and the characteristic of the reference trajectory of the leader to cancel the lateral deviation of the convoy from this trajectory and also allows coupled longitudinal and lateral motion control. The robustness of the linearization control by inverse dynamics (for longitudinal movement) and the sliding mode control (for lateral movement), concerning the parameters of the dynamic model, will be studied in this paper. To compare different control approaches for the convoy, we add sensor errors between vehicles, to study the accumulation of the errors towards the other cars of the convoy. To validate these approaches, we use the platform of SCANeR TM -Studio to control a convoy of 10 vehicles.
Cooperative Path Planning of UAVs & UGVs for a Persistent Surveillance Task in Urban Environments

There have been many applications of drones in urban environments, such as delivery, rescue, and surveillance. In a persistent surveillance task, the drones sometimes cannot complete it independently when some regions are required to be covered on the ground. For this purpose, unmanned aerial vehicles and unmanned ground vehicles (UAVs & UGVs) system is introduced to perform such a task in this article, and the goal is to generate the circular paths for the drones and the UGVs, respectively, to minimize their travel time of realizing a complete coverage. First, the cooperative path planning problem of UAVs & UGVs is formulated into a large-scale 0–1 optimization problem, in which the on–off states of the discrete points are to be optimized. Second, a hybrid algorithm integrating the estimation of distribution algorithm (EDA) and the genetic algorithm (GA) algorithm is proposed to solve the problem. The advantages of EDA and GA in the global and local search are fully taken considering the demands in different phases of the iterative process. A simple sweep-based approach is employed to determine the optimal sequence of passing the open points. Then, an online local adjustment strategy is also applied to address the changes of the requirements on covering the ground area. Simulation results demonstrate that the UAVs & UGVs system can enhance the efficiency of the task. The hybrid EDA-GA algorithm can greatly improve the performance of EDA and GA in terms of the quality and the stability of solutions. The online adjustment strategy is effective to maintain a complete coverage while minimizing the impact on the circular paths.
Equilibrium, Kinetic and thermodynamic studies on phenol sorption to clay

The sorption efficiency of low cost sorbent clay in removing phenol and m-nitrophenol (MNP) from aqueous solutions has been investigated in batch experiments. The effects of particle size of sorbent, pH, phenol concentration and temperature have been studied. The sorption isotherm has been studied in terms of the Langmuir model. The experimental data were well fitted by the Pseudo second-order kinetic model allowing the rate constant to be evaluated. This study showed that clay could be used as an efficient sorbent material for the sorption of phenols from aqueous solutions. This study is important for treatment of phenolic effluents where continuous removal can be achieved on a large scale.
Distinct Waking States for Strong Evoked Responses in Primary Visual Cortex and Optimal Visual Detection Performance

Variability in cortical neuronal responses to sensory stimuli and in perceptual decision making performance is substantial. Moment-to-moment fluctuations in waking state or arousal can account for much of this variability. Yet, this variability is rarely characterized across the full spectrum of waking states, leaving the characteristics of the optimal state for sensory processing unresolved. Using pupillometry in concert with extracellular multiunit and intracellular whole-cell recordings, we found that the magnitude and reliability of visually evoked responses in primary visual cortex (V1) of awake, passively behaving male mice increase as a function of arousal and are largest during sustained locomotion periods. During these high-arousal, sustained locomotion periods, cortical neuronal membrane potential was at its most depolarized and least variable. Contrastingly, behavioral performance of mice on two distinct visual detection tasks was generally best at a range of intermediate arousal levels, but worst during high arousal with locomotion. These results suggest that large, reliable responses to visual stimuli in V1 occur at a distinct arousal level from that associated with optimal visual detection performance. Our results clarify the relation between neuronal responsiveness and the continuum of waking states, and suggest new complexities in the relation between primary sensory cortical activity and behavior. SIGNIFICANCE STATEMENT Cortical sensory processing strongly depends on arousal. In the mouse visual system, locomotion (associated with high arousal) has previously been shown to enhance the sensory responses of neurons in primary visual cortex (V1). Yet, arousal fluctuates on a moment-to-moment basis, even during quiescent periods. The characteristics of V1 sensory processing across the continuum of arousal are unclear. Furthermore, the arousal level corresponding to optimal visual detection performance is unknown. We show that the magnitude and reliability of sensory-evoked V1 responses are monotonic increasing functions of arousal, and largest during locomotion. Visual detection behavior, however, is suboptimal during high arousal with locomotion, and usually best during intermediate arousal. Our study provides a more complete picture of the dependence of V1 sensory processing on arousal.
Deer Body Adaptive Threshold Segmentation Algorithm Based on Colour Space

In large-scale deer farming image analysis, K-means or maximum betweenclass variance (Otsu) algorithms can be used to distinguish the deer from the background. However, in an actual breeding environment, the barbed wire or chain-link fencing has a certain isolating effect on the deer which greatly interferes with the identification of the individual deer. Also, when the target and background grey values are similar, the multiple background targets cannot be completely separated. To better identify the posture and behaviour of deer in a deer shed, we used digital image processing to separate the deer from the background. To address the problems mentioned above, this paper proposes an adaptive threshold segmentation algorithm based on color space. First, the original image is pre-processed and optimized. On this basis, the data are enhanced and contrasted. Next, color space is used to extract the several backgrounds through various color channels, then the adaptive space segmentation of the extracted part of the color space is performed. Based on the segmentation effect of the traditional Otsu algorithm, we designed a comparative experiment that divided the four postures of turning, getting up, lying, and standing, and successfully separated multiple target deer from the background. Experimental results show that compared with K-means, Otsu and hue saturation value (HSV)+K-means, this method is better in performance and accuracy for adaptive segmentation of deer in artificial breeding scenes and can be used to separate artificially cultivated deer from their backgrounds. Both the subjective and objective aspects achieved good segmentation results. This article lays a foundation for the effective identification of abnormal behaviour in sika deer. 1 College of Information Technology, Jilin Agricultural University, Changchun, 130118, China. 2 Jilin Province Agricultural Internet of Things Technology Collaborative Innovation Center, Changchun, 130118, China. 3 Jilin Province Intelligent Environmental Engineering Research Center, Changchun, 130118, China. 4 Jilin Province Colleges and Universities and the 13th Five-Year Engineering Research Center, Changchun, 130118, China. 5 Wuhan Maritime Communication Research Institute, Wuhan, 430205, China. 6 Fruit Research and Extension Center, Department of Agricultural and Biological Engineering, Penn State University, PA, USA. * Corresponding Author: Ye Mu. Email: muye@jlau.edu. cn. Received: 07 March 2020; Accepted: 21 April 2020. 1318 CMC, vol.64, no.2, pp.1317-1328, 2020
Vigor de sementes e densidade populacional: reflexos na morfologia de plantas e produtividade da soja

The high vigor of seeds is essential for a quick and uniform seedling emergence, still guaranteeing the desired population; however it presentes divergent results regarding its influence on the crops yield. As well a vigor, the plant population is a importante research fator, being one of the main components of yield. In this context, the aim of this research was to evaluate the effect of the seed vigor and population variation on plant morphological characteristics and soybean yield. Seeds from cultivars NS 6909 Ipro and 7166 RSF Ipro were used, with high (90%) and low vigor (70%). The experimental design was randomized blocks, arranged in factorial scheme 2x4, with two levels of vigor (high and low) and four plant populations (150.000; 250.000; 350.000 and 450.000 plants ha ), employing four repetitions. Plant height, lodging index, number of branches per plant, total number of pods and different thirds of plants, number of seeds per plant, thousand-seed weight and crop yield were evaluated. The cultivars showed contrasting behavior increase the population, especially for the variables plant height, lodging and crop yield. High vigor seeds result in superior plant development in the plant community, with positive effects on the average number of productive nodes per plant and the number of pods and seeds per plant, in all evaluated populations, resulting in productivity increases of up to 19% compared to the use of low vigor seeds.
Isolation and characterization of actinomycetes with antimicrobial activity from the soil and the effect of the environmental factors on their antimicrobial activity

This study aimed at isolating and characterizing antibiotic producing actinomycetes from a specific geographic location Alba’qa, Jordan, with a known soil character, and study the effect of the environmental factors on their antimicrobial activity, in order to relate the actinomycetes flora to the environmental characteristics. Soils of the Alba’qa region are of uniform composition and contain antimicrobial producing microorganisms. Although the initial aim was to isolate organisms of the genera Actinomyces, other organisms such as Aspergillus and other antibiotic producing microorganisms “mostly bacteria” were also isolated. Actinomycetes showed antimicrobial effect on all tested bacteria “Escherichia coli SQ21, Staphylococcus aureus SQ31, Streptococcus pyogenes SQ33, Serratia marcescens SQ22, Staphyloccocus epidermidis SQ32 and Bacillus spp. SQ41” depending on the media they were cultured on and the temperature they were incubated at. It was established that the optimum antibacterial activity is shown when cultivated on GYE medium at 30°C. This made a beneficial first step to find treatments for the diseases caused by the pathogenic bacteria. Key words: Actinomycetes, antibiotics, environmental factors, soil.
Cooperative Navigation of UAVs in GNSS-Denied Area With Colored RSSI Measurements

In this article, we investigate how the proposed navigation mode “dead reckoning + relative ranging + heading constraint” can be used to cooperatively localize a UAV swarm when GNSS (Global Navigation Satellite System) is denied. By focusing on the relative ranging performance, the wireless RF modules mounted on the cost-efficient UAVs are used to provide communication, ranging and positioning at the same time; however, its positioning accuracy is usually degraded by the noise in the actual RSSI (Received Signal Strength Indicator) measurements. To solve this problem, we analyze the influence of antenna pattern inhomogeneity and channel variation, respectively. The former mainly determines an antenna radiation function related to the yaw angle and relative position between the two measuring UAVs. The latter uses overlapping Allan variance to analyze and identify the measurement noises from outfield tests, that is, quantization noise, flicker noise, random walk noise and Gaussian white noise, which to some extent bridges the difference between the theoretical model and the practical measurement of RSSI. We also evaluate the sub-swarm size that guarantees robustness of RSS-based localization. In this way, an improved extended Kalman filter is proposed to predict and correct the colored noise by adaptively integrating the current peer-to-peer radio ranging performance and its Allan variance. To prove the effectiveness of this approach, simulation results based on real environment datasets and practical noise modeling are demonstrated.
Structured Risk: Black Women, Perceived Integration into Campus Hook-Up Culture, and the Potential for Sexually-Transmitted Infection Diagnoses at a Predominately White College

Black women continue to suffer disproportionately high rates of sexually transmitted infection (STI) diagnoses, from chlamydia to HIV, than does any other demographic. These numbers, though shrinking over time, continue to identify Black women as at the greatest risk for STI diagnosis in the U.S., yet few explanations are available that do not pathologize Black women’s sexual behavior. This paper examines interview data on hook-up culture participation from Black women students at a PWI (predominantly white institution) to better understand how they perceive and engage with sexual interactions and expectations in this setting. The findings suggest Black women participate “begrudgingly” in campus hook-up culture, but race and gender-based isolation in this context minimizes access to useful, potentially protective, information about other hook-up culture participants, as well as options for contraception. Though members of the campus community, Black women students feel disengaged from the very hook-up culture in which they continue to participate, increasing their potential for STI diagnosis. Better understandings of the settings where, and conditions under which, Black women engage in sexual interactions is important to identifying potential explanations for their endemic STI rates in this country.
methyl-ATAC-seq measures DNA methylation at accessible chromatin

Chromatin features are characterized by genome-wide assays for nucleosome location, protein binding sites, 3-dimensional interactions, and modifications to histones and DNA. For example, Assay for Transposase Accessible Chromatin sequencing (ATAC-seq) identifies nucleosome-depleted (open) chromatin, which harbors potentially active gene regulatory sequences; and bisulfite sequencing (BS-seq) quantifies DNA methylation. When two distinct chromatin features like these are assayed separately in populations of cells, it is impossible to determine, with certainty, where the features are coincident in the genome by simply overlaying datasets. Here we describe methyl-ATAC-seq (mATAC-seq), which implements modifications to ATAC-seq, including subjecting the output to BS-seq. Merging these assays into a single protocol identifies the locations of open chromatin, and reveals, unambiguously, the DNA methylation state of the underlying DNA. Such combinatorial methods eliminate the need to perform assays independently and infer where features are coincident.
Temporal Constraint Background-Aware Correlation Filter With Saliency Map

Correlation filter (CF) based trackers have recently drawn great attention in visual tracking community due to their impressive performance, and computational efficiency on benchmark datasets. However, the performance of most existing trackers using correlation filter is hampered by two aspects: i) Included background information in the selected rectangular target patch is considered as part of the target, and they are treated as important as the real target in training new filter model, it causes the filter easily drift when target shape changes dramatically. ii) Existing filters use a moving average operation with an empirical weight to update the filter model in each frame, such per frame adaptation constantly introduces new information of the target patch, but never consider the consistence of the historical information, and the newly obtained one, further increases the risk of drifting. This paper presents a new framework including saliency map, and a novel CF regression model. We reformulate the original optimization problem, and provide a closed form solution for multidimensional features which is solved efficiently using alternating direction method of multipliers (ADMM), and accelerated using Sherman-Morrison lemma, our algorithm as a new framework can be easily integrated into CF base trackers to boost their tracking performance. We perform comprehensive experiments on five benchmarks: OTB-2015, VOT2016, VOT2018, UAV123, and TempleColor-128. Results show that the proposed method performs favorably against lots of state-of-the-art methods with a speed close to real-time. Our method with deep features performs much better on all 5 datasets.
Macronutrients, immunoglobulin A and total antioxidant capacity of human milk during prolonged lactation

Background: A longer duration of breastfeeding of up to two years is encouraged by many health authorities, but there is limited information regarding the composition of the milk after one year postpartum. The aim of the study was to determine the longitudinal changes in human milk macronutrients, immunoglobulin A (IgA) and total antioxidant capacity (TAC) during prolonged lactation.Methods: One hundred eighty-four breastfeeding mothers with full-term healthy children who had been lactating from 1 to 24 months were recruited from January 2019 to April 2019. Human milk was biochemically analyzed for protein and carbohydrate content by colorimetric assays. The fat content was determined by capillary centrifugation, and the energy content was calculated from the results of centrifugation. IgA levels and TAC were determined by ELISA and a Trolox equivalent antioxidant capacity (TEAC) assay, respectively. Pearson Correlation Coefficient and Spearman’s Rank Correlation Coefficient were used to determine the association of milk composition with month of lactation.Results: The concentrations of fat, energy and IgA were positively correlated with the duration of lactation (r = 0.229, p < 0.01; r = 0.229, p < 0.01 and r = 0.304, p < 0.01, respectively). No significant correlations of protein, carbohydrate concentrations and TAC with the duration of lactation was observed (r = 0.106, p = 0.15; r = -0.032, p = 0.67; r = -0.056, p = 0.45, respectively). Conclusions: We demonstrated that fat, energy and IgA contents increased during prolonged lactation lasting up to two years postpartum, while protein and carbohydrate concentration and TAC were not related to lactation duration. Based on the results, lactating mothers should be encouraged to continue breastfeeding for at least two years postpartum.
A Geographical Review: Novel Coronavirus (COVID-19) Pandemic

Without an authorized antibody or compelling therapeutics for COVID-19, different encourages to hand tidiness and isolate a fundamental methodology to control and mitigation intercession towards the early identification and isolate of cases to break the chain of transmission [1]. The SARS-CoV-2 pandemic is at present an enormous test for scientists, clinicians, medicinal services laborers, and chiefs. We delineate the most striking challenges for analysts who need to offer help in this pandemic with their capability. In this article, we need see the specific date while the recuperation pace of patients would be more than new NCV cases in India [2]. This date is characterized as an ailment declined date. Coronavirus is certifiably not another infection however the serious intense respiratory condition coronavirus, SARS nCoV is the new infection of the family Corona virus cases found in China [3]. World Health association authoritatively renames SARS-CoV (SARS-nCoV) or Novel coronavirus as COVID-19 on 11 February 2020 [4]. Alpha coronavirus, Beta coronavirus, Gamma coronavirus, and Delta coronavirus are the four genera of the family Coronavirus [5],[6]. Bats are the wellspring of COVID-19 infection and spread in people just as warm blooded animal [7],[8].
Hysteresis of Solid-State Reactions: Its Cause and Manifestations

The aim of this article is to establish the physical origin of hysteresis in solid state reactions. It had not been identified by the conventional science that remained limited by phenomenological modeling. The hysteresis revealed itself in detail as an essential component of the molecular mechanism of phase transitions in our studies of good transparent single crystals by optical microscopy and X-rays. The exclusive cause of hysteresis is nucleation lags and rooted in the nature of the nucleation far fro m the classical "random fluctuation" model. The nuclei are localized on crystal defects where nucleation lags are encoded. The hysteresis in structural, ferro magnetic and ferroelectric phase transitions, and upon magnetization and polarization results fro m the underlying ro le of structural rearrangements in these processes. Format ion of structural and magnetic hysteresis loops is analyzed in detail.
A Study on New High-Speed Motor That Has Stator Decreased in Weight and Coreloss

With the recent increase in the demand for convenient handheld home appliances, the quietness, power density, and weight of motors have been extensively studied. To this end, this article proposes a separated teeth motor (STM) with improved weight reduction and higher productivity than those of existing hair dryer motors. To reduce the weight of the stator, which possesses a high weight specificity in the motor, an STM model was designed with divided teeth to facilitate reduced iron consumption. Using this model, improvements in the production and performance of STM motors are proposed. For example, the workability of the motor is increased for the same torque; moreover, manufacture of compact and lightweight STMs is deemed possible. In addition, a reduction in torque ripple, cogging torque, and total harmonic distortion has been demonstrated via a finite-element method.