Miracle-dz/UniFAR-FTUs huggingface dataset:
Inverse displacement analysis of the general six degree-of-freedom serial robot based on optimization method

The paper presents a new solution of inverse displacement analysis of the general six degree-of-freedom serial robot. The inverse displacement analysis of the general serial robot is transformed into a minimization problem and then the optimization method is adopted to solve the nonlinear least squares problem with the analytic form of new Jacobian matrix. In this way, joint variables of the general serial robot can be searched out quickly under the desired precision when positions of the three non-collinear end effector points are given. Compared with the general Newton iterative method, the proposed algorithm can search out the solution when the robot is at the singular configuration and the initial configuration used in the optimization method may also be the singular configuration. So the convergence domain is bigger than that of the general Newton iterative method. Another advantage of the proposed algorithm is that positions of the three non-collinear end effector points are usually much easier to be measured than the orientation of the end effector. The inverse displacement analysis of the general 6R (six-revolute- joint) serial robot is illustrated as an example and the simulation results verify the efficiency of the proposed algorithm. Because the three non-collinear points can be selected at random, the method can be applied to any other types of serial robots.
Inversion of 3-D DC resistivity data using an approximate inverse mapping

SUMMARY We present an iterative algorithm for inverting 3-D pole-pole DC resistivity data. The algorithm utilizes an AIM (approximate inverse mapping) formalism and iterative inversions are carried out by performing updates in both model space (AIM—MS) and data space (AIM—DS) by using an approximate inverse mapping with an exact forward mapping. In the approximate inverse mapping, the potential anomaly is expressed as a depth integral of the logarithmic conductivity perturbation convolved horizontally with a known kernel. Fourier transforming the data equation decouples wavenumber components and the Fourier transform of the conductivity anomaly is recovered by performing 1-D linear inversions at each wavenumber. Inverse Fourier transforming the 1-D inversion results produces the sought conductivity. The AIM methodology avoids the generation and inversion of a full 3-D sensitivity matrix and is consequently fast and efficient. Only one forward modelling is performed at each iteration. The algorithm is tested with synthetic data and a field data set from an epithermal region.
Extremum Seeking Control based MPPT for photovoltaic array under uniform and non-uniform irradiances

In order to extract the maximum power from photovoltaic (PV) array, the maximum power point tracking (MPPT) technology has always been applied in PV systems. The Perturb and Observe (P&O) and Incremental Conductance (INC) methods are the most popular and widely used under the constant irradiance. However, the changes of the environmental parameters, such as cloud cover or the building block, will lead to the radiation change and then have a direct effect on the location of Maximum Power Point (MPP). In order to carry out MPPT in PV array under Partial Shading Conditions (PSCs), a method based on Extremum Seeking Control (ESC) is applied to determine the optimal value of a reference current in the PV system. The proposed ESC approach for the Global Maximum Power Point Tracking (GMPPT) in this work uses a series combination of a High Pass Filter (HPF) and two Low Pass Filters (LPFs). These three filters act as two Band Pass Filters (BPFs) and let a specific frequency of input power which includes the derivative of PV with respect to its voltage pass through. This auto-tuning strategy was developed to maximize the PV array output power through the regulation of the voltage input to the DC-DC boost converter in order to lead the PV array steady-state to a stable oscillation behavior around the Global Maximum Power Point (GMPP). The performance of the proposed ESC algorithm is evaluated by comparing it with the conventional ESC and modified P&O method in terms of tracking speed and accuracy by utilizing MATLAB SIMULINK. The simulation results demonstrate that the tracking capability of the proposed ESC algorithm is superior to that of the conventional ESC and modified P&O algorithm, particularly under low radiance and sudden mutation irradiance conditions. Key Words: Boost converter; Extremum Seeking Control; Maximum Power Point Tracking (MPPT); Partial Shading Conditions (PSCs); Photovoltaic (PV) system.
A normalization method based on variance and median adjustment for massive mRNA polyadenylation data

This paper proposed a normalizationmethod based on minimumvariance and median adjustment (MVM), and then made a comprehensive comparison of three normalization methods including DESeq, TMMand MVM. In this study, the MVM method was evaluated using polyadenylation [poly(A)] data and gene expression data fromArabidopsis by ways of empirical statistical criterias of mean square error (MSE) and Kolmogorov-Smirnov (K-S) statistic. Experimental results demonstrated the high performance ofMVMmethod in that it could accurately remove the systematic bias and make the distributions of normalized data stable.
Criteria of Effective Marketing – Analysis of Corporate Marketing Activities in Hungary

The practice of marketing has significantly changed among companies operating in Hungary since the economic transition with new emphasis, marketing activities and expectations have been emerged. This paper analyzes the role and significance of marketing in corporate practices; undercover the most important activities of marketing managers in current business processes; the size and tendencies of change in marketing budgets as well as the features and components of the dominant marketing orientation. Moreover, the reader shall gain insight into the analysis of cooperation activities of firms and their interpretation of the meaning of CSR. Besides this paper give an overview of the current trends influencing daily marketing practices and analyzes the correlation between the size of revenue and marketing activities. It is found that the strongest positive correlation is between brand building and higher revenue, e. g. building strong brands can be considered as the most effective marketing activity.
A Simple Relative Dispersion Model for Concentration Fluctuations in Contaminant Clouds.

The relative dispersion process for clouds of contaminant in generic atmospheric flow is considered. The properties of the separation distance for pairs of particles are simplified by implicitly averaging over the spatial domain of the dispersing cloud. Representative statistics and simplified sets of measurements for characterizing two-particle dispersion in complex flows are identified. A Lagrangian stochastic model of relative dispersion equivalent to processes in homogeneous and isotropic turbulence at high Reynolds numbers is derived. The model uses a new formulation for parameterizing the acceleration of separation, satisfies the criterion of conserving a well-mixed distribution of particle separations, and accounts explicitly for non-Gaussian statistics of the turbulence velocity differences. The results are in very good agreement with similarity theory in the inertial range and are consistent with uncorrelated velocities at length scales larger than the turbulence integral scale. The model is applied to the estimation of fluctuating concentration fields, which is relevant for representing the relative dispersion part of popular meandering plume and puff approaches. The dependence of mean-square concentration and concentration fluctuations on the source size is eliminated via a new scaling law for the time, which in fact determines a universal behavior for the concentration field. Simple formulas are derived that are consistent with previous theories, and they are successfully tested against numerical simulations.
Use of blubber fatty acid profiles to detect inter-annual variations in the diet of grey seals Halichoerus grypus

Diet, and how it varies in place and time, are important factors in understanding the interactions between seals and fisheries. The grey seal eats a wide variety of prey species and varia- tions in availability of prey can lead to changes in both foraging behaviour and diet that could affect the ecological impact of the seals. Since it is difficult to observe the feeding behaviour of seals directly, we have used changes in the fatty acid profiles of blubber to indicate changes in their diet. We studied inter-colony and inter-annual variations in the fatty acid profiles of female seals from 2 Scottish breeding colonies, North Rona (RON) and the Isle of May, over 3 consecutive years from 1996 to 1998. The fatty acid profiles obtained were compared and tested using several multivariate statis- tical methods, including a new inter-population measure Dfap (a distance measure based on fatty acid profiles). There were significant inter-colony differences in blubber fatty acids in all years of the study. There were significant within-colony variations among years for the seals at the Isle of May but not at RON. Individual seals sampled in more than 1 yr tended to change in a similar manner at the Isle of May but not at RON. Discriminant analysis of the fatty acid profiles provided classifications of the Isle of May seals according to year with 84 to 97% accuracy, but was less successful with the RON seals with 56 to 74% accuracy. Only 4 out of 166 seals were 'mis-classified' into the wrong Isle of May or RON grouping. This analysis suggested a shift in diet at the Isle of May that was supported by evidence from a separate study on the analysis of otoliths in seal faeces.
A Fast Algorithm for Monostatic RCS Based on Lu Decomposition

Compared with bistatic RCS, the monostatic RCS calculation is more difficult for the needs of surface current on scatterer induced by the incident wave of every single angle, so the calculation burthen is very large. Based on the character of impedance matrix of MOM is invariable whether the angle of incident wave was changed, this paper proposes a fast algorithm for monostatic RCS based on LU decomposition. Numerical results show out that this algorithm can compress the computation burthen of monostatic RCS significantly, and this algorithm is easy to operate.
ASSESMENT OF TRACE ELEMENTS AND MOBILITY OF ARSENIC AND MANGANESE IN LAGOON SEDIMENTS OF THE HUASCO AND COPOSA SALT FLATS, CHILEAN ALTIPLANO

Total concentration of Fe, Mn, Zn, Cu, Cr, Cd, As, Sb and Se in lagoon sediments found in the Huasco and Coposa salt flats, Chilean Altiplano and the mobility of As and Mn by means of a simple extraction methodology was studied. The optimum digestion was made with HCl:HNO 3 3:1, and the detection of elements, by means of FAAS, ET-AAS, HG-AAS and HG-AFS techniques. Sediments contain a high concentration of As, which ranges from 43 to 268 mg Kg-1 but low concentration in the majority of other elements with different proportions depending on the date of sampling. Huasco presented the greater enriched condition and the concentration of Mn was approximately nine times higher. The greater mobility of As species was obtained in the metalloid’s higher accumulation season. The extracting solutions of: 0.11M HOAc; acetate buffer in the ratio of 1 to 50; and, double-phase extraction in the ratio of 1 to 25, presented the same efficiency. Because of the high concentration of As, it is not possible to obtain the same mobility, when a acetate buffer in the ratio of 1 to 25 is employed. The 100% quantitative extraction was achieved by using 0.43M HOAc and a solution of 0.25M H 2 SO 4 . The removal of As oxalate buffer, depends on the origin and, the content of Fe and Mn in the sample. When the oxalate buffer is employed Huasco presented a higher mobility (61 and 67%) than Coposa (37%). Sediments do not present any soluble salts of Mn in water. The percentage of Mn extracted with 0.11M HOAc, and any of the other three extracting solutions, is much higher in Huasco. However, when using 0.25M H 2 SO 4 , this tendency becomes inverted exhibiting less mobility in Huasco (45 – 88%) than in Coposa (63 – 99%).
Macroscopic ICRS Poorly Correlates with O Driscoll Histological CartilageRepair Assessment in a Goat Model

Background: The purpose of this research was to evaluate whether the macroscopic assessment of repair cartilage quality of talar osteochondral defects in a goat model using the ICRS score is in correspondence with histological assessment using the O’Driscoll histology score. Methods: 32 caprine samples with six mm osteochondral defects treated with microfracture were analyzed six months postoperatively using high-resolution digital images. Two observers independently scored the defects using the ICRS (0-12 points). Histological analysis was performed by one expert histologist using the O’Driscoll Score (0-24 points) on 5 μm slices stained with Masson Goldner and Safranin O. Total ICRS and O’Driscoll scores as well as sub items were compared using a Spearman correlation coefficient (p<0.05). Results: The median ICRS for Observer 1 and 2 were 6.5 (range: 4-11) and 6.5 (range: 3-11). The median O’Driscoll score was 11.5 (range: 3-20). The correlation of the total ICRS scores and the O’Driscoll score was not significant, nor was the correlation of sub items (p>0.05). Conclusion: This animal study suggests that isolated macroscopic ICRS assessment of cartilage repair tissue does not correlate well with histological assessment. Possible explanations may be limitations of surface assessment compared to analysis deeper into the tissue and the necessity of more elaborate macroscopic assessment including hypertrophy, colour, lesion size, location and degenerative status of the joint. Techniques that are more accurate, precise and reliable, such as histology, dGEMERIC and T2 mapping MRI, contrast enhanced CT or optical coherence tomography (OCT), should be considered as alternatives or at least as complimentary methods.
Computational and Experimental analysis of a Counter-Rotating Wind Turbine system

Wind power is a sustainable and clean source of energy. Single rotor wind turbines (SRWT) of horizontal in nature are the conventional wind turbines, which are used to extract the power from wind. In the past two decades, research have been carried out on Counter Rotating Wind Turbine (CRWT) system and reported that the power extracted is relatively more for a given swept area than that of a SRWT. In the present study, a CRWT, having primary (upwind) and secondary (downwind) rotors with different diameters, which has been reported in a literature is considered and analyzed for its turbine characteristics (power, torque) using commercial software Fluent 6.2 and wind tunnel testing. The flow around the SRWT and CRWT was simulated by using finite volume method coupled with Moving Reference Frame (MRF) technique to solve the governing equations. In this present study the Standard k-ω shear stress transport turbulence model was considered. For pressure-velocity coupling of the flow second-order upwind discretization scheme (SIMPLEC) was adopted. The results on the power output from SRWT and CRWT using Computational Fluid Dynamics (CFD) have been compared with the literature values. A parametric study on axial distance between two rotors have also been investigated by CFD and it is observed that for 0.65d (d is diameter of primary rotor) the power increase is about 10% for a wind velocity of 10 m/s. Further, a scaled model of CRWT is fabricated using Rapid Prototyping-FDM technique for optimum axial distance of 0.65d with the accuracy of 0.1mm and wind tunnel testing was done with the prony brake-strain gauge assembly for variousvelocities and it is predicted that there is a power increase for CRWT comparing SRWT.
The identification of archaeological evidence for hawking in medieval England

This paper examines the archaeozoological evidence for hawking in Medieval England between AD 600 and 1600. It will initially survey the incidence of skeletal remains of those species closely associated with hawking during the medieval period, namely the short winged hawks, the Goshawk and Sparrowhawk, and the long winged hawks, such as the Peregrine Falcon, Kestrel and Gyrfalcon. By using criteria such as the nature of the deposition of the skeletal remains, environmental factors and by assessing the incidence of other wild species within the faunal assemblage, this paper demonstrates that in most cases a determination of wild or captive status is possible. These findings provide evidence for the widespread use of hawking birds, especially the Sparrowhawk and the Goshawk in medieval England across the whole period under consideration. Furthermore, the distribution of archaeozoological evidence is also indicative of the status of falconry as a pursuit of those with means, with manors and castles representing a third of all sites and in general these deposits contain the remains of a greater number of birds. What is perhaps more surprising is the high numbers of trained birds recovered from urban contexts, although it should be noted that a number of the urban deposits, such as the Bedern, York and those in Southampton, are associated with high status sites.
Mass deposition event of Pyrosoma atlanticum carcasses off Ivory Coast (West Africa)

Thousands of moribund thaliacean carcasses (Pyrosoma atlanticum) were deposited between February and March 2006 at the seafloor in the Ivory Coast area (West Africa). Remotely operated vehicle surveys were conducted in a continuous depth gradient between 20 and 1275 m along an oil pipeline. Video and still photography were used to estimate the carcass distribution, density, and size on the seabed, as well as recording the local megafauna interactions with the gelatinous material. Large patches of dead pyrosomids covered extensive areas on the continental slope, whereas minor aggregations were found on the shelf. The carcasses were in many instances trapped along the pipelines, accumulating extensively in troughs and furrows in the slope, and especially in soft sediment channels. Pyrosoma atlanticum dried samples were used to calculate the carbon content, enabling the extrapolation to the densities and sizes recorded in the video surveys. The average standing stock of organic carbon associated with the carcasses was >5 g C m−2 in the whole slope and canyon, with values as high as 22 g C m−2 in certain areas. Eight megafaunal species from three different phyla were observed 63 times directly feeding on the decomposing carcasses. The gelatinous carbon may have contributed substantially to the detrital food web including microbes at the seabed, and certainly to the diet of larger benthic organisms. The organism‐level carbon measurements and documented fate of pyrosomid organic carbon is new evidence of the importance of gelatinous material in large‐scale processes and elemental cycling.
Aid, Policy, and Growth: The Case of Nepal

The debate over aid effectiveness has produced a large number of cross-sectional studies, while case studies of individual countries remain extremely limited, probably due to the lack of disaggregated data. This paper contributes to aid-, policy-, and growth literature using data from Nepal, a country that has been one of the highest recipients of aid in the developing world. Our findings suggest that aid, in the presence of sound economic policy, contributes to growth. However, we did not find any statistical evidence to suggest that democratic governance and openness impact the effectiveness of aid in Nepal.
Statistical Antenna Proximity Effect Modeling with Uncertainty Impedance Ellipses

User effects on portable antennas can decrease the global terminal performance, such as reducing the battery life or the wireless coverage. People presence will modify the input impedance, the far field radiation pattern, the radiation efficiency, and the near field. In this paper, we investigate the influence of the user on the input impedance by means of a new statistical approach which relies on uncertainty, where a handheld antenna works in two modes (data and talk) while people couple to the antenna. Studying some reflection coefficient measurements performed with a vector network analyzer (VNA), a standard framework based on uncertainty ellipses is developed. Finally, the method is applied to some antenna prototypes, showing its advantages and reliability to quantify and compare proximity effects.
Residential Operational Energy Use

Despite decades of debate in urban research about the effect of built form on household energy use, the empirical research on the topic is still far from conclusive. Many studies rely on small samples and fail to control for crucial variables such as household income. This article describes a detailed analysis of household energy use in Sydney that controls for major household demographic and income variables. The results demonstrate that appliance ownership, household size, dwelling size and dwelling type all affect energy consumption. Importantly, from a planning perspective, energy use in low-rise attached dwellings, after controlling for other factors, is estimated as 15–20 per cent lower than detached dwellings with the same number of bedrooms.
Unsteady rotor-stator interaction in a low pressure centrifugal compressor

The aim of this paper is to study the unsteady rotor-stator interaction in a low-pressure centrifugal compressor using the finite volume method to solve the Unsteady Reynolds-Averaged Navier-Stokes. In order to understand better, the rotor-stator interaction, the unsteady results are processed using both Adamczyk decomposition [8] and Proper Orthogonal Decomposition (POD) [3, 4]. Both decompositions show the behavior of unsteady rotorstator interaction but the POD modes also show the numerical errors.