Miracle-dz/UniFAR-FTUs huggingface dataset:
On dynamically consistent Jacobian inverse for non-holonomic robotic systems

This paper presents an extension of the concept of dynamically consistent Jacobian inverse from robotic manipulators (holonomic systems) to non-holonomic robotic systems, like mobile robots. This new inverse is derived within the framework of the endogenous configuration space approach, following a strict analogy with the original derivation of the dynamically consistent Jacobian inverse for holonomic systems. The analogy is founded on replacing a finite-dimensional configuration space of the manipulation robot by the space of control functions steering the non-holonomic system. Consequently, a curve in the space of control functions corresponds to the manipulator’s trajectory in the configuration space, whereas endogenous velocities and forces are defined as elements of the tangent and cotangent spaces to the control space. Three ways of introducing the dynamically consistent Jacobian inverse are proposed, referred to as the geometric method, the force method, and the optimization method. A crucial concept underlying all these methods is a Riemannian metric in the space of control functions of the non-holonomic system as well as in its operational space. It has been shown that, similarly as for holonomic systems, the dynamically consistent Jacobian inverse obtained prevents the transmission of certain internal forces acting in the system from the endogenous configuration space to the operational space. This property is illustrated with the example of the Pioneer 2DX mobile platform. Performance of the new Jacobian inverse is demonstrated in the context of motion planning of the rolling ball.
Verbal Tone in Buli: a Morphosyntactic Analysis *

In languages where tone or accent is lexically contrastive there is often an asymmetry in the lexical categories that display the contrast. Typically roots have a greater range of distinctions than affixes. Within roots nominals often make more distinctions than verbs. For example, in both Spanish and Italian nominals contrast the location of stress within the three-syllable window at the right edge of the word. Italian retains this contrast in verbal inflection (cf. m'acin-a 'grinds' vs. lav'or-a 'works') while it has been lost in Spanish. For pitch accent systems, Tokyo Japanese verbs lack the contrasts for accent location found in nouns while retaining the accented vs. unaccented lexical contrast. In the Fukuoka dialect (Smith 1999) verbs fall uniformly in the accented class (realized on the syllable containing the penultimate mora). Similar asymmetries are found in the Bantu languages. In many of these languages the absence of lexical contrasts in the verb is compensated by complex accentual and tonal alternations as a function of the tense/aspect of the verb. These cases are particularly challenging analytically because often the underlying morphological structure is not clear and hence there is no direct connection between accentual/tonal location and tense-aspect exponence.
Mycotoxin Contamination Status of Cereals in China and Potential Microbial Decontamination Methods

The presence of mycotoxins in cereals can pose a significant health risk to animals and humans. China is one of the countries that is facing cereal contamination by mycotoxins. Treating mycotoxin-contaminated cereals with established physical and chemical methods can lead to negative effects, such as the loss of nutrients, chemical residues, and high energy consumption. Therefore, microbial detoxification techniques are being considered for reducing and treating mycotoxins in cereals. This paper reviews the contamination of aflatoxins, zearalenone, deoxynivalenol, fumonisins, and ochratoxin A in major cereals (rice, wheat, and maize). Our discussion is based on 8700 samples from 30 provincial areas in China between 2005 and 2021. Previous research suggests that the temperature and humidity in the highly contaminated Chinese cereal-growing regions match the growth conditions of potential antagonists. Therefore, this review takes biological detoxification as the starting point and summarizes the methods of microbial detoxification, microbial active substance detoxification, and other microbial inhibition methods for treating contaminated cereals. Furthermore, their respective mechanisms are systematically analyzed, and a series of strategies for combining the above methods with the treatment of contaminated cereals in China are proposed. It is hoped that this review will provide a reference for subsequent solutions to cereal contamination problems and for the development of safer and more efficient methods of biological detoxification.
Classification de données mixtes par un modèle de mélange de copules gaussiennes.

Nous proposons un modele de melange de copules gaussiennes pour la classification non supervisee de donnees mixtes. Les marginales de chaque composante sont des distributions standard, ce qui facilite l'interpretation des classes. Les correlations intra-classe, quant a elles, sont prises en compte au travers des copules gaussiennes qui estiment un coefficient de correlation, par couple de variables et par classe, ayant des proprietes de robustesse. De plus, les copules gaussiennes permettent de visualiser les donnees par classe. Dans un cadre bayesien, l'estimateur du maximum \emph{a posteriori} est obtenu par un echantillonneur de Gibbs permettant d'explorer efficacement l'espace des parametres. La classification d'un jeu de donnees medical illustre notre modele.
Chapter 1 Numerical hybrid wave model

Nonlinear decomposition of a measured ocean wave field can render accurate results of free waves by excluding bound waves from resultant wave characteristics. Conventional perturbation methods, such as the mode-coupling method (MCM), alone cannot provide convergent general solutions for bound waves in a wave field of a broad-band spectrum. The phase-modulation method (PMM) is able to render convergent solutions in the cases where conventional perturbation methods fail. To simplify the derivation in a PMM, a solutionmatching approach is developed. Hybrid wave models (HWM) selectively use both MCM and PMM solutions to address nonlinear interactions between free waves of different frequency ratios to ensure the convergence of the solution for bound waves. The models are able to decompose a longor short-crested wave field accurately based on the measurements and hence can predict the wave properties accurately and deterministically. Examples of their applications to the analyses of laboratory and field measurements are given to demonstrate the usefulness of HWMs.
Advances in the Electrophysiological Recordings of Long-Term Potentiation

Understanding neuronal firing patterns and long-term potentiation (LTP) induction in studying learning, memory, and neurological diseases is critical. However, recently, despite the rapid advancement in neuroscience, we are still constrained by the experimental design, detection tools for exploring the mechanisms and pathways involved in LTP induction, and detection ability of neuronal action potentiation signals. This review will reiterate LTP-related electrophysiological recordings in the mammalian brain for nearly 50 years and explain how excitatory and inhibitory neural LTP results have been detected and described by field- and single-cell potentials, respectively. Furthermore, we focus on describing the classic model of LTP of inhibition and discuss the inhibitory neuron activity when excitatory neurons are activated to induce LTP. Finally, we propose recording excitatory and inhibitory neurons under the same experimental conditions by combining various electrophysiological technologies and novel design suggestions for future research. We discussed different types of synaptic plasticity, and the potential of astrocytes to induce LTP also deserves to be explored in the future.
Efectos sobre la capacidad de resolucion de problemas de \lapiz y papel"de una ense~nanza-aprendizaje de la f¶‡sica con una estructura problematizada (Efiects upon the hability of \paper and pencil"problem solving of physics teaching and learning with a problem-based structure)

Recebido em 8/6/2009; Revisado em 17/12/2009; Aceito em 21/12/20-0; Publicado em 17/1/2011El presente art¶‡culo contiene los resultados obtenidos de una investigaci¶on realizada para estudiar los efectosque produce el modelo de ensenanza-aprendiza~ je de la f¶‡sica con una estructura problematizada en la capacidadpara resolver problemas y, en las actitudes e intereses de los estudiantes del primer curso universitario. Esteart¶‡culo da una respuesta fundamentada a la pregunta: con una ensenanza-aprendiza~ je problematizada de laf¶‡sica, >se produce realmente una mejora signiﬂcativa en la capacidad de resoluci¶on de problemas, y ¶esta, semantiene tiempo despu¶es de la instrucci¶on recibida? Palabras-clave: modelo de ensenanza-aprendiza~ je problematizada de la f¶‡sica, resoluci¶on de problemas de f¶‡sicade \l¶apiz y papel", modelo ensenanza~ de las ciencias como investigaci¶on dirigida.We discuss the results of a research conducted to study the eﬁects of problem-based teaching and learningof Physics on the ability of students in problem solving and in their attitudes and interest towards the subject.First-year university students are involved in the study. We try to answer this basic question: can a problem-based instruction of Physics improve the ability of students in problem solving and does this ability still remainsome time after the end of the course? Keywords: problem-based teaching and learning of physics, pencil and paper physics problem solving, scienceteaching model as guided research.
Self-Similarity Bounds for Locally Thin Set Families

A family of subsets of an n-set is k-locally thin if, for every k-tuple of its members, the ground set has at least one element contained in exactly one of them. For k = 5 we derive a new exponential upper bound for the maximum size of these families. This implies the same bound for all odd values of k > 3. Our proof uses the graph entropy bounding technique to exploit a self-similarity in the structure of the hypergraph associated with such set families.
Do Clowns Really Taste Funny? An Investigation of the Relationship between Humor and Playfulness in Clown Doctors

Healthcare clowning represents a well-established method for relieving patients and their relatives of discomfort during hospitalization. Although studies concerning the effectiveness of this approach are increasing in number, state-of-the-art studies conducted to evaluate the psychological characteristics of clown doctors are scarce. In this cross-sectional study, a convenient sample of 210 clown doctors (143 females, 67 males) aged between 18 and 75 years (M = 47.34, SD = 12.31) completed a demographic questionnaire, the Comic Styles Markers, and the Short Measure for Adult Playfulness. The results demonstrated that clown doctors bring higher levels of fun, benevolent humor, and nonsense and a lower level of cynicism compared to the populace. Moreover, the participants with more experience tend to use less irony, sarcasm, and cynicism than those with less experience. Playfulness was primarily related to the lighter styles of humor, and specific differences between the Whiteface and the Auguste clown doctors were observed. The results are discussed with reference to previous studies conducted on groups of clown doctors.
Quelles devraient être les indications de l’échographie en Role 1?

L’imagerie par ultrasons a bénéficié des récents progrès technologiques, devenant plus performante, plus mobile et moins coûteuse. Aussi, ses applications et indications se sont étendues. En Role 1, elles découlent de référentiels médicaux civils, notamment de Médecine d’urgence. Cependant, la prise en charge de la traumatologie lourde du blessé de guerre doit être différenciée de l'ensemble des autres pathologies gérées au Role 1, définissant ainsi deux groupes d'indications d'échographie en Role 1. Le deuxième groupe comprend la traumatologie du sport, l’évaluation des douleurs abdominales et urinaires et la thrombose veineuse. La formation préalable du médecin d’unité doit tenir compte de l’épidémiologie observée en Role 1, la formation théorique et surtout pratique, étant orientée en ce sens. L’imagerie s’intègre au sein d’une prise en charge globale dans un contexte de contraintes à la fois médicale et militaire.
Modeling and Analysis of Inter-Vehicle Communication: A Stochastic Geometry Approach

Modeling and Analysis of Inter-vehicle Communication: A Stochastic Geometry Approach Muhammad Junaid Farooq Vehicular communication is the enabling technology for the development of the intelligent transportation systems (ITS), which aims to improve the efficiency and safety of transportation. It can be used for a variety of useful applications such as adaptive traffic control, coordinated braking, emergency messaging, peer-to-peer networking for infotainment services and automatic toll collection etc. Accurate yet simple models for vehicular networks are required in order to understand and optimize their operation. For reliable communication between vehicles, the spectrum access is coordinated via carrier sense multiple access (CSMA) protocol. Existing models either use a simplified network abstraction and access control scheme for analysis or depend on simulation studies. Therefore it is important to develop an analytical model for CSMA coordinated communication between vehicles. In the first part of the thesis, stochastic geometry is exploited to develop a modeling framework for CSMA coordinated inter-vehicle communication (IVC) in a multilane highway scenario. The performance of IVC is studied in multi-lane highways taking into account the inter-lane separations and the number of traffic lanes and it is shown that for wide multi-lane highways, the line abstraction model that is widely used in literature loses accuracy and hence the analysis is not reliable. Since the pres5 ence of CSMA in the vehicular setting makes the analysis intractable, an aggressive interference approximation and a conservative interference approximation is proposed for the probability of transmission success. These approximations are tight in the low traffic and high traffic densities respectively. In the subsequent part of the thesis, the developed model is extended to multihop IVC because several vehicular applications require going beyond the local communication and efficiently disseminate information across the roads via multi-hops. Two well-known greedy packet forwarding schemes are studied, that impose different tradeoffs between per-hop transmission success probability and forward packet progress, namely, the most forward with fixed radius (MFR) and the nearest with forward progress (NFP). In particular, a tractable and accurate modeling framework is developed to characterize the per-hop transmission success probability and the average forward progress for vehicular networks in a multi-lane highway setup. The developed model reveals the interplay between the spectrum sensing threshold of the CSMA protocol and the packet forwarding scheme. A new performance metric is defined, denoted as the aggregate packet progress (APP), which is a dimensionless quantity that captures the tradeoffs between the spatial frequency reuses efficiency, the per-hop transmission success probability, and the per-hop forward progress of the packets. To this end, in contrary to existing studies, the results show that with proper manipulation of CSMA threshold, the MFR achieves the highest APP.
High-Performance Soft Decision Decoding for Compound Channel Using RS-SPC Concatenated Codes

A novel single parity check-assisted ordered statistic decoding (SPC-OSD) algorithm for the compound channel is proposed for Reed-Solomon (RS) codes. The algorithm can effectively use the channel soft information to accurately determine the $N-K$ unreliable symbol positions to be erased by using single parity checking and threshold comparison. Besides that, the second-burst error symbol is also proposed as a supplement to unreliable symbols. Based on these predetermined errors, the algorithm can be dynamically adjusted according to the channel environment to achieve the best decoding performance. Compared with burst-error correcting algorithm-based ordered-statistics decoding (BC-OSD) and burst error correcting hard-decision decoding-based low-complexity chase algorithm (BCHDD-LCC), simulation results show that the proposed algorithm can give a coding gain reaching up to 2.0dB and 2.1dB respectively, when symbol error rate (SER) is 10−4.
A feedforward controller by modified series approximation

A new pole-zero cancellation technique using a modified series approximation is proposed for the feedforward controller. The gain of the system with the proposed feedforward controller is close to 1 for up to relatively high frequency. The tracking error of this method depends on the pth-order difference of the desired trajectory. The method is effective when the closed-loop system has unstable zeros in the left-half plane of the z plane close to the unit circle. The tracking errors are analyzed in terms of the location of an unstable zero and the reference trajectory. The effectiveness of the proposed method is shown in the simulation.
Face Recognition Using PCA (Principal Component Analysis) and LDA (Linear Discriminant Analysis) Techniques

image processing field is becoming more popular for the security purpose in now days. It has many sub fields and face recognition is one from them. Many techniques have been developed for the face recognition but in our work we just discussed two prevalent techniques PCA (Principal component analysis) and LDA (Linear Discriminant Analysis) and others in brief. These techniques mostly used in face recognition. PCA based on the eigenfaces or we can say reduce dimension by using covariance matrix and LDA based on linear Discriminant or scatter matrix. In our work we also compared the PCA and LDA.
Correction of x-ray absorption spectrum distortion using adversarial neural networks

Energy spectrum CT can provide higher CT imaging resolution and thus play an important role in clinical diagnosis. X-ray Absorption Spectrum (XAS) instrument based on photon counting detector has great potentials in energy spectrum CT. The main problems of PCDs are “Stacking effect” and “charge sharing”, which can cause spectrum distortion and therefore depress imaging quality. It is quite complicated to correct spectral distortion through hardware improvements and physical simulation. Hence, we proposed a method for x-ray absorption spectrum data correction based on adversarial neural networks. The generator of our proposed can generate corrected spectrum after training. Spectrum data for correction in our experiments was collected by laboratory equipment and the ground-truth was obtained by simulation software. Real data and simulated data were feed to the network to train the generator and discriminator simultaneously. Results of our experiment illustrated that the well-trained network can effectively recover the spectrum from the distorted spectrum data. We also evaluate the imaging quality with the corrected spectrum data. It can be seen that the quality of CT reconstruction image can be significantly enhanced through corrected spectrum data. Our method of using adversarial neural networks to generate noise-free x-ray spectrum provides new ideas for the clinical application of energy spectrum CT.
Interaction of a relativistic electron beam with an inhomogeneous plasma

The investigation of the high-frequency interaction of a relativistic electron beam and a plasma is extended to include arbitrary variation of the plasma density. Analysing the coupled linearized Vlasov—Maxwell equations by means of a low-temperature expansion of the orbit integrals, a general equation for the electric field accurate to first order in the plasma temperature, beam temperature, and betatron frequency is obtained. This equation is applied to the investigations of transverse and longitudinal modes. A new transverse mode with |ω − kV0| ∼ ωβ is found to be collisionally unstable. The electrostatic instability is found to be slowed down by both low plasma temperature and low beam temperature, but the betatron oscillations increase the growth rate. A new longitidinal mode with |ω − kV0| ∼ ωβ, is found to be unstable for nonzero beam temperatures. The lowest order correction to the electrostatic growth rate due to a small plasma nonuniformity is obtained. The sign of this correction is found to depend critically on the shape of the inhomogeneity.
Damage location diagnosis of frame structure based on wavelet denoising and convolution neural network implanted with Inception module and LSTM

Accurate diagnosis of the damage location of the frame structure is very important for the overall damage assessment and subsequent maintenance of the frame structure. However, the frame structure generally works in the noise environment, which increases the difficulty of health monitoring and fault diagnosis of frame structure based on vibration data. In order to realize the accurate damage location diagnosis of structural frame under noise environment, this paper proposes a fault diagnosis method based on wavelet denoising, convolutional neural network, Inception module, and long short-term memory (LSTM) on the basis of complete ensemble empirical mode decomposition with adaptive noise (CEEMDAN). In order to verify the effectiveness and superiority of the method proposed in this paper, the 4-story steel frame model of the University of British Columbia is taken as the research object, and the experiments are carried out with the method proposed in this paper, and under the same conditions, the comparative experiments are carried out with other similar methods. The experimental results show that the method proposed in this paper not only has high accuracy, but also has strong anti-noise ability, and its performance is better than other similar methods. Therefore, the fault diagnosis method proposed in this paper can effectively perform the accurate diagnosis of damage location of frame structure under noise environment.
Pengaruh Iklim Organisasi, Budaya Organisasi, Kepemimpinan Terhadap Motivasi Dosen Akademi Maritim Sapta Samudra Padang

Penelitian ini ditujukan untuk menilai dan mengetahui apakah terdapat Pengaruh Iklim Organiasi Budaya Organiasi dan Kepemimpinan terhadap Kinerja Dosen Akademi Maritim Sapta Samudra Padang. Populasi dan sampelnya adalah seluruh Dosen Akademi Maritim Sapta Samudra Padang yang berjumlah 32 orang. Teknik pengambilan sampel mengikuti metode sensus, dengan demikian jumlah sampel sama dengan jumlah populasi sebesar 32 orang. Hasil penelitian dengan menggunakan analisis regresi linear berganda, menunjukkan terdapat pengaruh positif yang signifikan pengaruh Iklim organiasi, Budaya Organisasi dan Kepemimpinan terhadap Kinerja Dosen Akademi Maritim Sapta Samudra Padang.