Miracle-dz/UniFAR-FTUs huggingface dataset:
An Interactive Visual Navigation Method Using a Hand-drawn-Route-Map in an Unknown Dynamic Environment

In this paper, a visual navigation method based on Hand-drawn/sketched Route Map is proposed. This navigation method consists in considering the advance Hand-drawn-Route-Map and the effective image matching algorithm. At first, some key boot points are picked up from the hand-drawn route according to the principle of lesser deviation, so that the original route is divided into several segments. Then, in the process of the mobile robot's running along every segment, real-time image information from robot camera is matched with the corresponding one from advance Hand-drawn-Route-Map. In order to speed up image processing, a kind of prediction estimation method is proposed to find the most potential image. SURF algorithm is used to detect image features, where matching points can be found in term of KD-Tree. The projection transform matrix between the reference image and the real-time one is solved by RANSAC algorithm, in order to know the location of the reference image in the real-time one. With reference to the odometer and real-time image information, the robot can be roughly localized. And then, go on next segment, up to the last segment. At last, through a series of experiments, the advantage and efficiency of the new method in navigating and avoiding dynamic obstacles are testified with the imprecise route map.
A guided tour of multiparameter full-waveform inversion with multicomponent data: From theory to practice

Building high-resolution models of several physical properties of the subsurface by multiparameter full waveform inversion (FWI) of multicomponent data will be a challenge for seismic imaging for the next decade. The physical properties, which govern propagation of seismic waves in visco-elastic media, are the velocities of the P- and S-waves, density, attenuation, and anisotropic parameters. Updating each property is challenging because several parameters of a different nature can have a coupled effect on the seismic response for a particular propagation regime (from transmission to reflection). This is generally referred to as trade-off or crosstalk between parameters. Moreover, different parameter classes can have different orders of magnitude or physical units and footprints of different strength in the wavefield, which can make the inversion poorly conditioned if it is not properly scaled.
Sex‐specific differences in the circadian pattern of action potential firing by rat suprachiasmatic nucleus vasopressin neurons

The suprachiasmatic nucleus (SCN) of the hypothalamus serves as the master circadian clock in mammals. Most SCN neurons express the inhibitory neurotransmitter GABA (gamma amino butyric acid) along with a peptide cotransmitter. Notably, the neuropeptides vasopressin (VP) and vasoactive intestinal peptide (VIP) define two prominent clusters within the SCN: those located in the ventral core (VIP) and those forming the dorsomedial “shell” of the nucleus (VP). Axons emerging from VP neurons in the shell are thought to mediate much of the SCN's output to other brain regions as well as VP release into the cerebrospinal fluid (CSF). Previous work has shown that VP release by SCN neurons is activity dependent and SCN VP neurons fire action potentials at a higher rate during the light phase. Accordingly, CSF VP levels are higher during daytime. Interestingly, the amplitude of the CSF VP rhythm is greater in males than females, suggesting the existence of sex differences in the electrical activity of SCN VP neurons. Here we investigated this hypothesis by performing cell‐attached recordings from 1070 SCN VP neurons across the entire circadian cycle in both sexes of transgenic rats that express green fluorescent protein (GFP) driven by the VP gene promoter. Using an immunocytochemical approach we confirmed that >60% of SCN VP neurons display visible GFP. Recordings in acute coronal slices revealed that VP neurons display a striking circadian pattern of action potential firing, but the characteristics of this activity cycle differ in males and females. Specifically, neurons in males reached a significantly higher peak firing frequency during subjective daytime compared to females and the acrophase occurred ~1 h earlier in females. Peak firing rates in females were not significantly different at various phases of the estrous cycle.
3D printing sandstone porosity models

The petroleum industry requires new technologies to improve the economics of exploration and production. Digital rock physics is a methodology that seeks to revolutionize reservoir characterization, an essential step in reservoir assessment, using computational methods. A combination of X-ray computed microtomography, digital pore network modeling, and 3D printing technology represents a novel workflow for transferring digital rock models into tangible samples that can be manufactured in a variety of materials and tested with standard laboratory equipment. Accurate replication of pore networks depends on the resolution of tomographic images, rock sample size, statistical algorithms for digital modeling, and the resolution of 3D printing. We performed this integrated approach on a sample of Idaho Gray Sandstone with an estimated porosity of 29% and permeability of 2200 mD. Tomographic images were collected at resolutions of 30 and ! [Formula][1] per voxel. This allowed the creation of digital porosity models segmented into grains and pores. Surfaces separating pores from grains were extracted from the digital rock volume and 3D printed in plastic as upscaled tangible models. Two model types, normal (with pores as voids) and inverse (with pores as solid), allowed visualization of the geometry of the grain matrix and topology of pores, while allowing characterization of pore connectivity. The current resolution of commodity 3D printers with a plastic filament (! [Formula][2] for pore space and ! [Formula][3] for grain matrix) is too low to precisely reproduce the Idaho Gray Sandstone at its original scale. However, the workflow described here also applies to advanced high-resolution 3D printers, which have been becoming more affordable with time. In summary, with its scale flexibility and fast manufacturing time, 3D printing has the potential to become a powerful tool for reservoir characterization. [1]: /embed/mml-math-1.gif [2]: /embed/mml-math-2.gif [3]: /embed/mml-math-3.gif
Variability of major soil properties of a fallow-acidic-level upland with high and multiple spatial resolutions

Variation of the soil attributes of a land in an area is dependent on topography, time, climate, parent material, land use land cover, land management, distance and scale. This variation affects the representation of soil of a land in an area. The study aimed to assess the variations in the representation of major soil properties of a unique fallow-acidic-undisturbed-level upland in different spatial resolutions of soil sampling. A fallow and level upland of 1500 m2 as separately gridded with the spacing of 5mx5m, 10mx10m and 15mx15m and geo-referenced surface (0-20 cm) soil samples were collected from the corner of each grid. The collected soil samples were analyzed for texture (Tx), organic carbon (OC), pH, total N (TN), available P (AP), exchangeable K (exch K), available S (AS), available Fe (AFe), available Zn (AZn) and available Mn (AMn) in soil. Statistical and geospatial analyses of the dataset were done with the relevant softwares. For the nutrients TN, AP, AZn and AFe, coefficients of variation (CV) showed a trend of increment across high-medium-low spatial resolutions, and their variability ranked as AZn (mean CV=104.03%, great variation)>AFe (mean CV=41.67%, moderate variation)>AP (mean CV=20.32%, moderate variation)>TN (mean CV=4.92%, low variation) based on average CV of three spatial resolutions of sampling. In case of other soil attributes, no particular trend of increment or decrement was observed across the resolutions and their variability was moderate except for pH which had low variability. Their variability ordered as exch K (mean CV=35.17%)>AS (mean CV=34.98%)>SOC (mean CV=31.71%)>Tx (mean CV=31.17%)>AMn (mean CV=30.10%)>Soil pH (mean CV=6.96%). Rationale correlations were observed between some soil attributes (pH vs AZ, AFe, OC; Tx vs TN, AP; Exch K vs AZn vs AFe; OC vs Exch K, AZn, AFe) with different degrees of associations (r), and increased trend in r value was found across the resolutions of high-medium-low except for pH and Tx. Different spatially gradient structures of the ordinary krigged interpolated maps were observed for different soil properties and for different spatial resolutions. Quantitatively, calculated (from semivariograms) nugget effects of 0-100% indicated that spatial dependency of studied soil properties could be very strong to very weak. The heterogeneity of soil in the upland as revealed by our results would assist scientists or farm managers to use or compare scale-dependent soil data wisely and precisely.
Maximum a posteriori planet detection and characterization with a nulling interferometer

Nulling interferometers such as Darwin or TPF will require a rather sophisticated data processing in order to perform a reliable planet detection and characterization. We propose a Bayesian method, which follows the maximum a posteriori (MAP) approach, to solve this problem. Our method accounts for the noise statistics and optimally combines the data from a nulling interferometer at all observed wavelengths to perform reliable planet detection. The problem to be solved is however multi-modal. We show how, in practice, the global optimum of the MAP criterion can be found by our method; the latter also provides the most likely spectral energy distributions of all planets. Additionally, we show that a proper regularization allows us to achieve an improved robustness of the detection and could lead to shorter observation times.
The endogenic neurosteroid system and its role in the pathogenesis and therapy of mental disorders

Introduction: Although neurosteroids have been relatively recently discovered, their significant role in the neurochemical processes and pathogenesis of a number of psychiatric and neurological disorders is now quite clear. First of all, it seems important to clarify the definition of the endogenous neurosteroids as a class of steroids, taking into account the variability of approaches to their description. Currently, neurosteroids include endogenous steroids synthesized in the central nervous system, gonads, or adrenal glands and interacting with GABAA, NMDA, and sigma-1 receptors. Neurosteroid biosynthesis: Biosynthesis of neurosteroids begins with rate-limiting reaction of TSPO binding cholesterol and transporting it into the mitochondria, where pregnenolone is synthesized following the cytochrome P450scc (CYP11A1) impact. Interaction with GABAА, NMDA and sigma-1 receptors: According to the experimental data, neurosteroids act as the most highly potent endogenous allosteric modulators of the GABA receptor; some types of neurosteroids (ALLO, DHEA, etc.) can produce a rapid anxiolytic and anticonvulsant effect. There is some experimental evidence for antipsychotic effects of some neurosteroids realized through NMDA receptors: intracerebral administration of ALLO to laboratory animals can prevent further appearance of motor agitation and other equivalents of psychosis after administration of high doses of amphetamines. It has also been proven in several studies on animal models that neurosteroids exhibit anxiolytic effects through sigma-1 receptors. Conclusion: The article describes the process of neurosteroidogenesis and the effect of neurosteroids on listed receptorsin accordance with already available scientific data. In addition, this paper describes the specific role of various neurosteroids in the development of mental illnesses, including anxiety disorders, depression, and schizophrenia Graphical Abstract
THE ROLE OF FINANCIAL ATTRIBUTES OF PROFITABLE FIRMS ON STOCK PERFORMANCE IN PAKISTAN

The study in hand endeavored to determine how financial characteristics of profitable firms directly affect their share prices on the stock market. For this purpose, we have used data from 2000 to 2018 and want to know, whether these financial attributes, i.e., ROE, ROA, P/E ratio, PM, size, and leverage, are directly involved with the stock prices of the profitable firms. However, the panel data approach was utilized to analyze the data. The results categorically showed that a firm's financial attributes have a linear relationship with its stock returns on stock market. This result also indicated that the equity holders of those firms of market investors follow direction of equity prices for future return because, as the price equity of the profitable firms increases, they invest more for high discounting’s in market because of the linear relationship between firms financial attributes and their stock prices. more over this results also explained that the efficiency of PSX can be improved by by improving financial knowledge of market arbitrageurs. The results provide signifncant information in reaching the decision as well as recommending some suggestions to stakeholders, policy-makers along with future researchers to revisit their decisions regarding ctock performance in Pakistan.
Adaptive Neurocontroller for a Nonlinear Combat Aircraft model

This paper introduces an adaptive con- troller, based on the use of neural networks, for a non- linear 6 D.O. F. combat aircraft model. This controller is based on the determination of the inverse dynamics of the considered aircraft through a state feed-back, taking advantage of the on-line learning ability of a neural net- work, dealing with any changes of the aircraft dynamics during the flight. In particular the controller is based on a Predictor- corrector scheme: namely a network, trained to emulate the direct dynamics of a plant, placed in a cascade with another network, that acts as the actual controller. The latter is trained by back-propagat ing the error of the overall system, through a plant emulator copy (method of supervised learning). The behaviour of this controller is compared with the one of a conventional linear SCAS (normal acceleration limiter), implemented following the requirements of the military handling qualities as well as the requirements of high maneuverability. In dealing with the nonlinear neural controller, two versions of a SISO solution are evaluated and compared. They differ from each other in the performance index formulation: one is a classical PD, while the other is a modified version of the PD which presents adaptive features. The reported numerical simulations show that both of them give satisfactory performances.
Hyperspectral reconstruction from RGB images based on Res2-Unet deep learning network

： Because of hyperspectral imaging equipment are expensive ， a deep learning network to recon⁃ struct high - quality hyperspectral images from easily obtained RGB images was proposed. The proposed network was based on the Unet framework ， and its backbone network was primarily constructed using the Res2Net module ， which could extract fine local and global image features. The channel attention mecha⁃ nism was introduced to adaptively adjust the channel characteristic response ， and the information of differ⁃ ent scales and depths was fully integrated through a skip connection between the coding and decoding paths. Finally ， it was trained and tested on the dataset provided by the new trends in the image restoration and enhancement （ NTIRE ） 2020 international challenge. Experiments show that compared with the adap⁃ tive weighted attention network （ AWAN ） and hierarchical regression network （ HRNet ）， the proposed method obtains the best results in the four objective evaluation methods ， such as the mean of relative abso⁃
HE-CORE BURNING STARS – LABORATORIES OF EXTRA-MIXING IN STELLAR ATMOSPHERES

Low-mass stars exhibit signatures of extra-mixing processes that require modeling beyond the standard stellar theory and observational data for stars of different masses and metallicities. A large population of helium-core-burning clump stars of the Galactic field, revealed by the Hipparcos orbiting observatory, as well as stars in open clusters, are excellent targets for the analysis of mixing processes in evolved low-mass metal-abundant stars. In this contribution, a short overview of 12C, 13C, N and O abundance determinations and comparisons with theoretical models of stellar evolution is presented.
Synoptic-Scale Disturbances near the Equator

Abstract A spectral analysis of winds analyzed and initialized at the European Centre for Medium-Range Weather Forecasts reveals an abundance of power in the 850 mb meridional wind along the equator with periods near four days. The power is mostly in the westward propagating component. Using high-pass filtered data it is shown that the waves have westward phase and eastward group propagation relative to the mean wind. The longest wavelengths are found over the Pacific Ocean, while the shortest are found over the convectively variable regions of Indonesia, South America, and Africa. Mean phase speeds at 850 mb are positively correlated with the mean wind on the equator at 500 mb and below, and negatively correlated with the mean wind above that level. The effective advecting zonal wind of the disturbances seems to be the density weighted average of the lower troposphere. The structure of the disturbances bears resemblance to the expected structure of an equatorially trapped mixed Rossby-gravity wave over t.
The contemporary football industry: a value-based analysis of social, business structural and organisational stakeholders

PurposeFootball exists and evolves in a dynamic ecosystem, displaying a massive and multidimensional influence on most contemporary societies, and football has grown into a significant industry with a plethora of stakeholders. This research is the first to comprehensively identify the key industry stakeholders and their distinct value, from the individual club perspective, and to conceptualise and test their interrelationship toward the development of a corresponding framework of club benefits.Design/methodology/approachThe study applied a multilevel approach to collect and verify qualitative data. It initially developed a preliminary conceptual framework, which was first validated by an expert panel and was subsequently extensively tested in the Cyprus-specific context, which offered fertile ground for such a study. The empirical stage rested on 41 semi-structured, face-to-face interviews with very high-ranking individuals from the top nine football clubs, as well as with key industry stakeholders.FindingsThough the examined industry is partly in line with international norms, it is also highly affected by unique characteristics that alter the various stakeholders' role, producing (even negative) value of varied typologies that is directly linked with the industry's financial, sporting, cultural and social conditions.Research limitations/implicationsThe research ultimately presents scholars, practitioners and policymakers with a systemic and comprehensive understanding of the individual club stakeholder value offerings, delivers a tested framework as a tool for social and business management and prescribes future avenues for research, governance and practice.Originality/valueExtant studies on the subject are either partial or focus on individual stakeholders and evidently lack requisite scientific comprehensiveness. The current research bridges this significant gap in knowledge by exhaustively identifying the key industry stakeholders, explicating their relative social, economic or other value in the individual club perspective and developing a value-based stakeholder framework.
Curve matching method for FFC representation

According to the shortage of common curve matching algorithms which can’t process rotation and scaling,a curve matching method of Freeman Chain Code(FCC) is proposed. An inflection point detection algorithm based on the accumulative of FCC and chain code difference is designed. Calculating the start point and the direction of the curves,the inflection point sequence which doesn’t change with rotation and scaling is obtained. The curves are matched by the length and the angle of the inflection point sequence. This method isn’t suffered with rotation and scaling,it has small computation and is easy to realize. The simulation experimental results show that the algorithm is effective and reasonable.
$G$-colorings of posets, covering maps and computation of low-dimensional homotopy groups

We introduce the notion of a coloring of a poset, which consists of a labeling of the edges in its Hasse diagram by elements in a given group $G$. We use $G$-colorings to study covering maps of posets and, consequently, to describe combinatorially the regular coverings of polyhedra. We obtain in this way concrete presentations of their fundamental group, different and more suitable than the characterization given by edge-paths. We also use $G$-colorings to handle and compute the homology of regular coverings and the second homotopy group of CW-complexes and posets. As applications, we obtain explicit formulae, based on colorings, for the computation of $\pi_2$ of two-dimensional complexes, we prove a generalization of Hurewicz theorem, relating the homotopy and homology of non-necessarily simply-connected complexes, and derive results on asphericity for two-dimensional complexes and group presentations.
Remarks on Frink's metrization technique and applications

In this paper, we give a simple counterexample to show again the limit of Frink's construction. As applications, we answer two conjectures posed by Berinde and Choban, calculate the induced metric from given $b$-metrics, and prove that the generalized metric in the sense of Branciari is metrizable. We also show that Banach contraction principles in $b$-metric spaces adn $g.m. s$'s may be deduced from Banach contraction principle in metric spaces.
Comprehensive picture of p -type doping of P3HT with the molecular acceptor F 4 TCNQ

By means of optical spectroscopy, Kelvin probe, and conductivity measurements, we study the $p$-type doping of the donor polymer poly(3-hexylthiophene), P3HT, with the molecular acceptor tetrafluorotetracyanoquinodimethane, F${}_{4}$TCNQ, covering a broad range of molar doping ratios from the ppm to the percent regime. Thorough quantitative analysis of the specific near-infrared absorption bands of ionized F${}_{4}$TCNQ reveals that almost every F${}_{4}$TCNQ dopant undergoes integer charge transfer with a P3HT site. However, only about 5$%$ of these charge carrier pairs are found to dissociate and contribute a free hole for electrical conduction. The nonlinear behavior of the conductivity on doping ratio is rationalized by a numerical mobility model that accounts for the broadening of the energetic distribution of transport sites by the Coulomb potentials of ionized F${}_{4}$TCNQ dopants.
Modeling the effect of erosion on crop production

This paper is concerned with a model for the effect of erosion on crop production. Crop yield in the year n is given by X(n) = YnLn, where is a sequence of strictly positive i.i. d. random variables such that E{Y 1} <∞, and is a Markov chain with stationary transition probabilities, independent of . When suitably normalized, leads to a martingale which converges to 0 almost everywhere (a.e.) as n → ∞. In addition, for large n, the distribution of Ln is approximately lognormal. The conditional expectations and probabilities of , given the past history of the process, are determined. Finally, the asymptotic behaviour of the total crop yield is discussed. It is established that under certain regularity conditions Sn converges a.e. to a finite-valued random variable S whose Laplace transform can be obtained as the solution of a Volterra-type linear integral equation.