Miracle-dz/UniFAR-FTUs huggingface dataset:
Evaluation of the efficiency of apple picking using a flexible manipulator

Flexible manipulators are a promising executive tool in various technological complexes. In the process of collecting fruits, they can, in addition to their main task of delivering working bodies to the object of labor, also perform the functions of flexible guides. For the use of flexible manipulators in agriculture, namely in the operations of harvesting apples, developments are needed that are relatively cheap to manufacture in comparison with other flexible manipulators. To analyze the efficiency of apple picking using a flexible manipulator, a series of tests was carried out. As part of the tests, the process of picking apples was simulated using a flexible manipulator. The number of apples harvested for branches of various geometries was estimated. Within the framework of the discussion, the prospects of introducing a flexible manipulator in super-intensive gardens in Russia were assessed.
Spectral Null Generation using Pulse Width Modulation in DC-DC converters

Electrical infrastructure of modern society is highly dependent on the power electronic systems for conditioning of electrical power from the raw power of the national grids. All modulation schemes create trains of switched pulses, which also contain unwanted harmonic components that need to be minimized. Resulting electromagnetic interference may disturb operations of sensitive instruments, necessitating the use of filters. Random pulse width modulation (RPWM) creates continuity in the output voltage of power spectrum thereby, reducing the discreteness. The current study focuses on the experimental and theoretical aspects of RPWM method by creating a new technology which leaves the power control method unaffected, transfer the harmonic power in frequency spectra of voltage and current to power spectral density while creating dips in noise spectra. The objective of this method is to improve conditions for long and medium wave conditions. The method presented in this thesis effectively suppresses specified components in the spectra of voltage noise of dc-dc power electronic converters. Computer simulations and laboratory experiments confirm the validity of the proposed theory of spectral nulls in the dc-input power electronic converters.
A Study on Mode Confusions in Adaptive Cruise Control Systems

* Graduate School of Automotive Engineering, Kookmin Univ. (Received July 2, 2014; Revised January 12, 2015; Accepted March 10, 2015)Key Words: Adaptive Cruise Control(적응순항제어), Formal Analysis(정형 분석), Intelligent Vehicle(지능형 차량), Mode Confusion(모드 혼동), User Interface(사용자 인터페이스)초록: 최근 과학 기술의 발전으로 첨단 자율 기능을 탑재된 차량의 출현이 가능하게 되었으며, 기존 차량에 추가된 첨단 운전자 지원 시스템(Advanced Driver Assistance Systems: ADAS)은 기존 차량에 추가된 이러한 자율 시스템들의 좋은 예라 할 수 있다. 이러한 시스템은 다수의 작동 모드를 가지는데 운전자들이 현재 수행중인 작동 모드를 잘못 인지하게 되면 교통사고가 일어날 수 있음이 관찰되고 있다. 본 연구에서는 적응 순항제어(Adaptive Cruise Control: ACC) 시스템을 장착한 자동화된 자동차의 운전자 인터페이스를 설계하고 이를 정형 기법을 통한 분석과 피실험자를 이용한 실험을 통해 모드 혼동 발생 여부를 검증하고 이를 개선하는 연구를 수행하였다. 이를 통해 모드 혼동을 방지하기 위해서는 시스템에 대한 심성 모델의 정확성과 간결성뿐만 아니라 인터페이스 구현시 디스플레이의 명확성이 또한 매우 중요하다는 것을 확인하였다. Abstract: Recent development in science and technology has enabled vehicles to be equipped with advanced autonomous functions. ADAS (Advanced Driver Assistance Systems) are examples of such advanced autonomous systems added. Advanced systems have several operational modes and it has been observed that drivers could be unaware of the mode they are in during vehicle operation, which can be a contributing factor of traffic accidents. In this study, possible mode confusions in a simulated environment when vehicles are equipped with an adaptive cruise control system were investigated. The mental model of the system was designed and verified using the formal analysis method. Then, the user interface was designed on the basis of those of the current cruise control systems. A set of human-in-loop experiments was conducted to observe possible mode confusions and redesign the user interface to reduce them. In conclusion, the clarity and transparency of the user interface was proved to be as important as the correctness and compactness of the mental model when reducing mode confusions.
Energy shaping control for systems with underactuation degrees two by controlled Lagrangian method

This article investigates underactuated systems' energy shaping control by controlled Lagrangian (CL) method. The existence of CL based control depends on a set of matching conditions, which are usually in terms of partial differential equations (PDEs). In this work, the matching conditions are derived and simplified for underactuation‐degrees‐two systems. Moreover, the solvability conditions are provided for a class of systems satisfying Assumptions 1 and 2, based on which the controlled energy could be explicitly solved. By the proposed matching solution method, the desired equilibrium can be effectively assigned. The proposed matching controller is implemented for a strongly coupled single rigid body system with six degrees of freedom for the first time. Smooth state feedback control laws guaranteeing asymptotic stability of the system are presented. The range of the control parameters could be obtained based on the positive definiteness of reshaped closed‐loop energy. Simulations for comparison with relate work show the effectiveness of the theoretical results.
Isolation and Identification of Lactic Acid Bacteria from Natural Whey Cultures of Buffalo and Cow Milk

In southern Italy, some artisanal farms produce mozzarella and caciocavallo cheeses by using natural whey starter (NWS), whose microbial diversity is responsible for the characteristic flavor and texture of the final product. We studied the microbial community of NWS cultures of cow’s milk (NWSc) for the production of caciocavallo and buffalo’s milk (NWSb) for the production of mozzarella, both from artisanal farms. Bacterial identification at species and strain level was based on an integrative strategy, combining culture-dependent (sequencing of the 16S rDNA, species/subspecies-specific Polymerase Chain Reaction (PCR) and clustering by Random Amplified Polymorphic DNA-Polymerase Chain Reaction (RAPD-PCR) and culture-independent (next-generation sequencing analysis, NGS) approaches. Results obtained with both approaches showed the occurrence of five species of lactic acid bacteria in NWSb (Lactococcus lactis subsp. lactis, Lactobacillus fermentum, Streptococcus thermophilus, Lactobacillus delbrueckii, and Lactobacillus helveticus) and five species in NWSc (Lc. lactis subsp. lactis, Enterococcus faecium, and S. thermophilus, Lb. helveticus, and Lb. delbrueckii), with the last two found only by the NGS analysis. Moreover, RAPD profiles, performed on Lc. lactis subsp. lactis different isolates from both NWSs, showed nine strains in NWSb and seven strains in NWSc, showing a microbial diversity also at strain level. Characterization of the microbiota of natural whey starters aims to collect new starter bacteria to use for tracing microbial community during the production of artisanal cheeses, in order to preserve their quality and authenticity, and to select new Lactic Acid Bacteria (LAB) strains for the production of functional foods.
Structural organization of the spongy mesophyll

Summary Many plant leaves have two layers of photosynthetic tissue: the palisade and spongy mesophyll. Whereas palisade mesophyll consists of tightly packed columnar cells, the structure of spongy mesophyll is not well characterized and often treated as a random assemblage of irregularly shaped cells. Using micro‐computed tomography imaging, topological analysis, and a comparative physiological framework, we examined the structure of the spongy mesophyll in 40 species from 30 genera with laminar leaves and reticulate venation. A spectrum of spongy mesophyll diversity encompassed two dominant phenotypes: first, an ordered, honeycomblike tissue structure that emerged from the spatial coordination of multilobed cells, conforming to the physical principles of Euler’s law; and second, a less‐ordered, isotropic network of cells. Phenotypic variation was associated with transitions in cell size, cell packing density, mesophyll surface‐area‐to‐volume ratio, vein density, and maximum photosynthetic rate. These results show that simple principles may govern the organization and scaling of the spongy mesophyll in many plants and demonstrate the presence of structural patterns associated with leaf function. This improved understanding of mesophyll anatomy provides new opportunities for spatially explicit analyses of leaf development, physiology, and biomechanics.
Hellige skrifter i skolens religionsundervisning

I denne artikkelen undersøker vi hvilke faktorer som kan bidra til elevers involvering i ­arbeidet med hellige skrifter i videregående skole. Tidligere forskning har belyst dette i svært liten grad, og for å kaste lys over temaet, analyserer vi semi-strukturerte intervjuer med fem elever som har religion og etikk. Rammeverket er sosiokulturelt, og det teoretiske grunnlaget er aktivitetsteori (Engeström), religionsvitenskap (Watts), medievitenskap ­(Hjarvard) og hermeneutikk (Ricoeur). Analysen viser at nyhetsmediene spiller en sentral rolle i ­tekstarbeidet og i elevenes tolkning av undervisningen. Dessuten viser vi, med utgangspunkt i Ricoeurs hermeneutikk, hvordan elevene filtrerer vekk objektive aspekter ved de hellige tekstene, enten med utgangspunkt i troen på vår egen samtids fortreffelighet eller utfra deres forståelse av religionsfagets egenart. Avslutningsvis diskuterer vi de didaktiske implika­sjonene av funnene. Nøkkelord: Hellige skrifter, elever, nyheter, medier, Ricoeur, tolkning, hermeneutikk
Using a data-driven approach to examine facility use definitions in campus recreation

1 Existing research in campus recreation establishes a relationship between facility use and 2 academic outcomes, but published studies define users differently. In response to inconsistent 3 definitions of participants in campus recreation, this study uses a data-driven approach to compare 4 facility use definitions. Authors illustrate the implications of choosing different participant definitions for 5 relationships between campus recreation and two undergraduate academic outcomes, first-year 6 retention and first-year cumulative grade point average (GPA). This study uses data from a three-year 7 timeframe, linking sources of data on students’ recreation facility use, academic outcomes, and student 8 records. Authors provide a summary of previous definitions, results from original regression analyses, 9 results for specific student subgroups, and recommendations for defining users. 10 11
Flow photochemistry – a GREEN Technology with a bright future: μ-photochemistry - a new resources-efficient synthesis tool

This report summarizes the results of the 'μ-Photochemistry a New Resources Synthesis Tool' project funded by the Irish Environmental Agency (EPA). Microphotochemistry is a novel research area of the twenty-first century that arises from significant progress in micro- and nanotechnologies. Microphotochemistry combines established techniques in organic photochemistry and continuous flow microsystem engineering with advances in light technology. Microphotochemistry can be considered to be an environmentally conscious methodology, contributing to the rapidly expanding field of 'green chemistry', by reducing the volume of waste, improving energy efficiency and product selectivity.
An Approach Regarding Windshield Wiper Mechanism Design

This research presents the use of a computer oriented numerical approach in the characterization of a parallelogram mechanism used on automobile windscreen wipers. The aim is to perform a kinetostatic analysis for obtaining through numerical simulations the joint reaction forces for a parameterized mechanism. Based on a combination between classical methods and computer simulations using Multi-body System method, the friction forces between wipers blades and windshield will be evaluated. The obtained results add new contributions on automobile windshield wiper mechanism design and analysis.
Investigation of bubble dynamics in ultrasonic sonoporation

During the process of quickly producing pathologic sections of the living tissues with ultrasonic sonoporation, it has been found that the exciting ultrasonic signal has an evident effect on the pathologic section. For the sake of understanding the effect and obtaining the best state of quickly producing pathologic section, the bubble dynamics in ultrasonic sonoporation is investigated by constructing a model of cavitated bubbles and altering the parameters, such as the ultrasonic signal frequency, acoustic pressure, bubbles' original radius and viscosity of the fluid. Numerical simulations indicate that radial vibration of cavitating bubble can keep on a steady process of expanding, shrinking, and vibrating in a given rang of frequencies, and one can find out the best original radius for obtaining the maximal cavitation. There exist a best cavitation regions which are determined by the parameters, i.e., the ultrasonic signal frequency, acoustic pressure, bubbles' original radius and viscosity of body fluid.
The Electric Furnaces for Heat Treatment with PID Predictiv System

This paper presents theoretical and experimental research regarding a temperature control system of electric furnaces with thermostatic heat treatment which agreed parameters determined based on PID (proportional-integrative-derivative) control laws predictive control allows this type of restricted thermal heat treatment applied pieces with complex configurations made of medium or high alloyed steels to obtain a structure and mechanical properties invariant mass in the whole piece, with trace constituents evenly distributed and without residual stress in part, the realization of these heat treatments can be done by custom management process workpiece heating furnace heat treatment, heat treatment allows simultaneous varied on different portions of the piece in order to obtain structural and mechanical properties.
Investigation of DFBS late type stars at high galactic latitudes

We study in this thesis relatively bright late-type giants found in the First Byurakan Survey (FBS) data base. We present the 2nd version of the catalogue of FBS LTS with new data (FBS LTS v2), 1471 objects. It is a homogeneous and complete database for high- Galactic late-type stars, including M and C types. Since 2007, all FBS low-resolution spectral plates are digitized. All DFBS spectral plates are analyzed with FITSView and SAO Image ds9 and numerous relatively faint LTS were discovered. We have made cross-correlation with DFBS, USNO-B1.0, 2MASS, AllWISE, IRAS PSC/FSC, AKARI, ROSAT BSC/FSC, GCVS, SDSS and added updated SIMBAD data. For numerous new detected objects, we present accurate DSS2 positions, approximate spectral subtypes refined from the DFBS low-dispersion spectra, luminosity classes estimated from 2MASS colours, and available proper motions for 1471 FBS LTS. The Revised and Updated Catalogue v2 lists a large number of completely new objects, which promise to extend very significantly the census of M giants, faint N-type AGB carbon stars, CH-type carbon giants at high Galactic latitudes, also M dwarfs in the Solar vicinity up to 16.0m-17.0m in visual. Phase dependent light-curves from large sky area variability data bases such as Catalina Sky Survey (CSS) and All-Sky Automated Survey for Supernovae (ASAS-SN), and the early installment of the third Gaia data release (Gaia EDR3) photometric and astrometric data have been used to characterize our sample of 1100 M-type giants found and 130 C-type stars at high latitudes. We show the behaviour of our sample stars in a Gaia DR2 color–absolute magnitude diagram (CaMD), the Gaia-2MASS-diagram, including two alternative versions, and the logP-K-diagram. In this way we explore the potential of these diagrams and their combination for the analysis and interpretation of datasets of LPVs. We show the possibility to classify stars into M- and C-types and to identify the mass of the bulk of the sample stars.
Spectroscopic Characterization of Mitochondrial G-Quadruplexes

Guanine quadruplexes (G4s) are highly polymorphic four-stranded structures formed within guanine-rich DNA and RNA sequences that play a crucial role in biological processes. The recent discovery of the first G4 structures within mitochondrial DNA has led to a small revolution in the field. In particular, the G-rich conserved sequence block II (CSB II) can form different types of G4s that are thought to play a crucial role in replication. In this study, we decipher the most relevant G4 structures that can be formed within CSB II: RNA G4 at the RNA transcript, DNA G4 within the non-transcribed strand and DNA:RNA hybrid between the RNA transcript and the non-transcribed strand. We show that the more abundant, but unexplored, G6AG7 (37%) and G6AG8 (35%) sequences in CSB II yield more stable G4s than the less profuse G5AG7 sequence. Moreover, the existence of a guanine located 1 bp upstream promotes G4 formation. In all cases, parallel G4s are formed, but their topology changes from a less ordered to a highly ordered G4 when adding small amounts of potassium or sodium cations. Circular dichroism was used due to discriminate different conformations and topologies of nucleic acids and was complemented with gel electrophoresis and fluorescence spectroscopy studies.
Werner syndrome in a Lebanese family

Werner syndrome (WS) is an extremely rare, autosomal recessive segmental progeroid disorder caused by biallelic pathogenic variants in the WRN, which encodes a multifunctional nuclear protein that belongs to the RecQ family of DNA helicases. Despite extensive research on WS in the last years, the population‐specific mutational spectrum still needs to be elucidated. Moreover, there is an evident lack of detailed clinical descriptions accompanied with photographs of affected individuals. Here, we report a consanguineous Lebanese family in whom we identified a pathogenic homozygous nonsense variant c.1111G>T, p.Glu371* in the WRN. The index individual, at the age of 54 years, was suspected to have WS due to a history of early‐onset cataracts, premature hair loss and graying, chronic nonhealing leg ulcers, Achilles' tendon calcifications, type 2 diabetes mellitus, dyslipidemia, hypothyroidism, and premature coronary artery disease. His four sisters, three of which deceased in the fifth decade, had clinical signs suggestive of WS. Moreover, his daughter, aged 23 years, had short stature, hair loss and flat feet. Taken together, we report a detailed clinical course of disease in several affected members of a consanguineous family, which is additionally documented by photographs.
Estilo de Comunicación de los estudiantes de la carrera de Administración y Gestión de Recursos Humanos

Este documento nace como la experiencia de siete años de aplicar la prueba “Mi sistema de comunicación” en el curso de reclutamiento y selección de personal de la carrera de administración y gestión de recursos humanos (AGRH) de la Universidad Técnica Nacional (UTN). Esta prueba se utiliza en procesos de selección de personas en las diferentes organizaciones del país y por el Programa de Habilidades Blandas Empresariales (PROHABLA) de la Universidad Nacional de Costa Rica. El objetivo es conocer el estilo de comunicación de los estudiantes de AGRH para el establecimiento de estrategias organizacionales que se ajusten a sus necesidades. Metodología: Las investigadoras deciden aplicar esta prueba a cuatro grupos de estudiantes utilizando la herramienta Google form, y se utiliza la triangulación en el análisis de los datos. Resultados: La mayoría de las personas participantes son kinésicas y/o kinestésicas, sobresalen los sentidos del tacto, gusto y olfato. Discusión: Los resultados se considera buenos pues la metodología de la Universidad está basada en el “saber-hacer” por tanto al aplicar los sentidos del tacto, gusto y olfato el estudiantado fortalece la comunicación basada en a través de actividades que se basan en las experiencias vivenciales (ejecutar y vivir cada situación). Conclusiones: Una vez que se conocen los resultados se dan dos situaciones a saber: 1) El profesorado puede diseñar las actividades de clase con las estrategias que favorecen la comunicación. 2) El estudiantado reconoce las fortalezas en sus sentidos y aprovechan estos recursos para potenciar otros sentidos y comunicarse de forma integral.
The entrance into teaching and need for support – narratives from diverse national and local contexts

The study investigates how a group of newly qualified teachers in diverse national and local contexts experience the entrance into teaching. The study is based on narratives from new teachers in Australia, England, and Norway. By listening to their stories, the aim is to develop the understanding of this particular phase in teachers’ professional life and learn more about how to support NQTs. The findings suggest that there are more similarities than differences across the included nations concerning the entrance of the profession. When it comes to support the needs are similar, but the frameworks for support and mentoring are different. Implications from the study is that there are commonalities involved that make it possible to learn from each other when it comes to develop frameworks for support and mentoring and what contributes to professional development across national contexts.
Slow violence in public parks in the U.S.: can we escape our troubling past?

ABSTRACT Previous studies on environmental justice have paid limited attention to procedural injustice in parks. Using the concept of slow violence, this paper interrogates the ideological and philosophical foundations of American public parks in order to unearth enduring structural patterns of procedural injustice. The paper illustrates that community, state, and national parks in the U.S. were founded upon the elitism, eugenics, and racism of affluent and powerful White conservationists and social reformers. To materialize their own interests, the White elite defined, built, and managed public parks by displacing, excluding, and criminalizing the Indigenous, the poor, people of color, and immigrants. As such, many of today’s park injustices, such as inequitable park availability and quality, gentrification, and non-visitation of people of color, originated from the beginning of the public parks in the 19th century and have been sustained ever since. The paper discusses corrective justice strategies to alleviate the enduring slow violence in parks.