Miracle-dz/UniFAR-FTUs huggingface dataset:
A Real-Time Game Theoretic Planner for Autonomous Two-Player Drone Racing

In this article, we propose an online 3-D planning algorithm for a drone to race competitively against a single adversary drone. The algorithm computes an approximation of the Nash equilibrium in the joint space of trajectories of the two drones at each time step, and proceeds in a receding horizon fashion. The algorithm uses a novel sensitivity term, within an iterative best response computational scheme, to approximate the amount by which the adversary will yield to the ego drone to avoid a collision. This leads to racing trajectories that are more competitive than without the sensitivity term. We prove that the fixed point of this sensitivity enhanced iterative best response satisfies the first-order optimality conditions of a Nash equilibrium. We present results of a simulation study of races with 2-D and 3-D race courses, showing that our game theoretic planner significantly outperforms a model predictive control (MPC) racing algorithm. We also present results of multiple drone racing experiments on a 3-D track in which drones sense each others’ relative position with onboard vision. The proposed game theoretic planner again outperforms the MPC opponent in these experiments where drones reach speeds up to ${1.25\,}\mathrm{{m}}/\mathrm{{s}}$.
Positive observation problem for linear time-lag positive systems

Abstract This paper deals with the problem of positive observation for linear positive time-lag systems for which the states take nonnegative values whenever the initial conditions are nonnegative. That is, the design of positive observers (possibly with time-lag) which guarantee nonnegative estimates of the current states of linear time-lag positive systems. The provided conditions for the existence of a positive observer (extended Luemberger-type) are necessary and sufficient and solvable in terms of Linear Programming (LP). Also, it is shown that it is no longer possible to stabilize any unstable time-lag positive system by using extended Luenberger-type positive observers.
Physical Activity to Reduce Systemic Inflammation Associated With Chronic Pain and Obesity: A Narrative Review

Introduction:The increasing prevalence of chronic pain and obesity has significant health and cost implications for economies in the developed and developing world. Evidence suggests that there is a positive correlation between obesity and chronic pain and the link between them is thought to be systemic inflammation. Objectives:The aim of this narrative review was to explore the physiological links between chronic musculoskeletal pain and obesity and to consider the potential role of regular physical activity in providing a means of managing obesity-related chronic pain. Discussion:Systemic inflammation, mechanical overload, and autonomic dysfunction are associated with increased prevalence and severity of chronic pain in individuals with obesity. It has been proposed, therefore, that interventions that target systemic inflammation could help to reduce chronic pain in obese individuals. Reduction in abdominal fat has been shown to alleviate pain and reduce the systemic markers of inflammation that contribute to chronic pain. Interventions that include exercise prescription have been shown to reduce both abdominal fat and systemic inflammation. Furthermore, exercise is also known to reduce pain perception and improve mental health and quality of life that also improves pain outcomes. However, adherence to formal exercise prescription is poor and therefore exercise programmes should be tailored to the interests, needs, and abilities of individuals to reduce attrition.
On residual categories for Grassmannians

We define and discuss some general properties of residual categories of Lefschetz decompositions in triangulated categories. In the case of the derived category of coherent sheaves on the Grassmannian G(k,n) , we conjecture that the residual category associated with Fonarev's Lefschetz exceptional collection is generated by a completely orthogonal exceptional collection. We prove this conjecture for k=p , a prime number, modulo completeness of Fonarev's collection (and for p=3 we check this completeness).
Time-domain properties of femtosecond laser diffracted by ‘surface-volume-surface’ gratings

The additional phase and group delay dispersion (GDD) of a femtosecond laser diffracted by ‘surface-volume-surface’ gratings (SVSGs) are deduced with a ray tracing method. The dependence of GDDs with grating periods and spacings between two transmitting surface gratings are discussed. Results show that the GDD decreases with the grating period increasing, finally it will tend towards a certain value. The GDD increases linearly with the grating spacing increasing. The time-domain properties of a 100 fs pulse laser diffracted by SVSGs with different grating periods and spacings are simulated and analyzed on the basis of Fourier optics. Simulation results show that the overall pulse waveform of 100 fs pulse laser has not deformed; it only appears as the pulse broadens, which agrees with the development of GDD.
The Hysteresis and Shear Velocity in Unsteady Flows

The shear velocity is an important parameter in characterizing the shear at the boundary in open channels and there exist methods to estimate the shear velocity in steady flows, but the application and comparison of these methods to non-uniform unsteady flows is limited. In this study, three artificial triangular-shaped hydrographs were generated where the base flow is non-uniform with fine sand bed and the shear velocity was obtained by the methods, u(*SV) by using the Saint-Venant equations, u(*L) by using the procedure given by Clauser Method, u(*P) by using the parabolic law, u(*UN) by using the momentum equation assuming the slope of energy grade line is equal to bed slope and u(*avg) by using the average velocity equation are used in this study. The stream-wise components of velocity time series and the velocity profiles were obtained by means of an acoustic Doppler velocity meter. The variation of the shear velocity and the constant for the parabolic law with time is discussed. It is concluded that the shear velocities found by the parabolic law and the average velocity equation can be used interchangeably. Furthermore a hysteresis intensity parameter is proposed in order to examine the depth variation of hysteretic behavior of depth variation both with point velocity and average velocity. It is revealed that the more the unsteady the hydrograph the more the hysteresis both in terms of point velocity and cross-sectional mean velocity.
Non-negative constrained inversion approaches for unmixing chromophores in multispectral optoacoustic tomography

Due to modeling and experimental imperfections, multispectral optoacoustic tomography images are often afflicted with negative values, which are further amplified when propagating into the spectrally unmixed images of chromophore concentrations. Since negative values have no physical meaning, accuracy can potentially be improved by imposing non-negativity constraints on the initial reconstructions and the unmixing steps. Herein, we compare several non-negative constrained approaches with reconstruction and spectral unmixing performed separately or combined in a single inverse step. The quantitative performance and sensitivity of the different approaches in detecting small amounts of spectrally-distinct chromophores are studied in tissue-mimicking phantoms and mouse experiments.
ANTHROPOMETRIC INDICATORS AS PREDICTORS OF HIGH BLOOD PRESSURE IN YOUNG FEMALES OF NORTH INDIA

Address for Correspondence: Dr Kamaljeet Kaur, Assistant Professor, Department of Anatomy, Punjab Institute of Medical Sciences (PIMS), Jalandhar, Punjab, India. E-Mail: kamaljeetkaurvij@gmail.com. This study was undertaken to find out correlation of anthropometric measurements with blood pressure and to find out effectiveness of anthropometric indicators as predictor’s of high blood pressure. Study group included 1200 young unmarried females in age group of 18-35 years residing in Haryana and Punjab region. Information was obtained about diet and physical activity of the subjects. A positive correlation of weight, BMI, WC, WHR and WHtR with SBP and DBP was observed and it was found to be highly significant. Deranged anthropometric parameters were observed with high fat intake and sedentary life style. BMI came out to be better predictor of blood pressure among females of Punjab and Haryana region.
Multidisciplinary approach to the diagnosis and management of patients with peripheral arterial disease

: Peripheral arterial disease (PAD) is frequently diagnosed after permanent damage has occurred, resulting in a high rate of morbidity, amputation, and loss of life. Early and ongoing diagnosis and treatment is required for this progressive disease. Lifestyle modifications can prevent or delay disease progression and improve symptoms. Limb-sparing endovascular interventions can restore circulation based on appropriate diagnostic testing to pinpoint vascular targets, and intervention must occur as early as possible to ensure optimal clinical outcomes. An algorithm for the diagnosis and management of PAD was developed to enable a collaborative approach between the family practice and primary care physician or internist and various special-ists that may include a diabetologist, endocrinologist, smoking cessation expert, hypertension and lipid nurse practitioner, podiatrist, wound healing expert, and/or others. A multidisciplinary team working together has the greatest chance of providing optimal care for the patient with PAD and ensuring ongoing surveillance of the patient’s overall health, ultimately resulting in better quality of life and increased longevity for patients with PAD.
Error-Driven Nonlinear Feedback Design for Fuzzy Adaptive Dynamic Surface Control of Nonlinear Systems With Prescribed Tracking Performance

This paper addresses an error-driven nonlinear feedback design technique to improve the dynamic performance of fuzzy adaptive dynamic surface control (DSC) for a class of uncertain multiple-input-multiple-output nonlinear systems with prescribed tracking performance. The highlight of the error-driven nonlinear feedback technique is that the feedback gain self-regulates versus different levels of output and virtual tracking errors, this reflects the classical control design criterions commendably: relatively high feedback gains can be implemented to guarantee disturbances and uncertainties attenuation and so on to improve the control performance when small tracking errors are measured, and relatively small feedback gains can be implemented to circumvent the problems of actuator and states saturations when large tracking errors are measured. The complexity problem of the traditional backstepping design is circumvented owe to the peculiarity of DSC method. Caused by the compound error functions of nonlinear feedback dynamics, a nonquadratic Lyapunov function is used to deduce the conditions of closed-loop stability. Fuzzy logic systems and error transformation-based method are used in the online learning of completely unknown dynamics and the prescribed performance tracking, respectively. Comparative results are presented to demonstrate the effectiveness and preponderance of the proposed control scheme with comparison to existing ones.
Elements of contemporary mathematical theory of dynamical chaos. Part 1. Pseudohyperbolic attractors

The paper deals with topical issues of modern mathematical theory of dynamical chaos and its applications. At present, it is customary to assume that dynamical chaos in finitedimensional smooth systems can exist in three different forms. This is dissipative chaos, the mathematical image of which is a strange attractor; conservative chaos, for which the entire phase space is a large "chaotic sea" with randomly spaced elliptical islands inside it; and mixed dynamics, characterized by the principal inseparability in the phase space of attractors, repellers and conservative elements of dynamics. In the present paper (which opens a cycle of three our papers), elements of the theory of pseudo-hyperbolic attractors of multidimensional maps are presented. Such attractors, as well as hyperbolic ones, are genuine strange attractors, but they allow the existence of homoclinic tangencies. We give a mathematical definition of a pseudo-hyperbolic attractor for the case of multidimensional maps, from which we derive the necessary conditions for its existence in the three-dimensional case, formulated using the Lyapunov exponents. We also describe some phenomenological scenarios for the appearance of pseudo-hyperbolic attractors of various types in one-parameter families of three-dimensional diffeomorphisms, we propose new methods for studying such attractors (in particular, a method of saddle charts and a modified method of Lyapunov diagrams). We consider also three-dimensional generalized Henon maps as examples.
Existence of a solution in the form of a moving front of a reaction-diffusion-advection problem in the case of balanced advection

We consider the initial-boundary value problem for an equation of reaction-diffusion-advection type in the case when the condition of balanced advection is satisfied. We give an algorithm for constructing an asymptotic representation of a solution which has the form of a moving front, obtain the equation of motion for the point of localization of the front, and prove the existence of that solution. The proof uses the asymptotic method of differential inequalities.
Application of Data Mining Techniques to the Storage Management and Online Distribution of Satellite Images

Nowadays, the massive amount of information stored in organizations of different market branches is a potential knowledge source to be explored and extracted. This paper describes a prototype developed in the context of an online satellite images distribution system using data mining techniques for the knowledge extraction concerning the image use, seeking for the improvement of the distribution services rendered, as well as the improvement of the processing resources and storage administration. The developed prototype used real image data of the satellite database (catalogue) and classification algorithms to determine the use potentiality of each image received through the satellite and to understand the main characteristics of it. The obtained results indicate that the use of data mining techniques can help in automating the choice of images to be previously processed and stored. It can represent an improvement in the customer service and can lead to a better use of the storage space and the processing resources.
On the Secrecy Capacity of a Full-Duplex Wirelessly Powered Communication System in the Presence of a Passive Eavesdropper

In this paper, we investigate the secrecy capacity of a point-to-point, full-duplex (FD) wirelesly powered communication system in the presence of a passive eavesdropper. The considered system is comprised of an energy transmitter (ET), an energy harvesting user (EHU), and a passive eavesdropper (EVE). The ET transmits radio-frequency energy which is used for powering the EHU as well as for generating interference at EVE. The EHU uses the energy harvested from the ET to transmit confidential messages back to the ET. As a consequence of the FD mode of operation, both the EHU and the ET are affected by self-interference, which has contrasting effects at the two nodes. In particular, the self-interference impairs the decoding of the received message at the ET, whilst it serves as an additional energy source at the EHU. For this system model, we derive an upper and a lower bound on the secrecy capacity. For the lower bound, we propose a simple achievability scheme which offers rates close to the upper bound on the secrecy capacity. Our numerical results show significant improvements in terms of achievable rate when the proposed communication scheme is employed compared to its half-duplex counterparts, even for high self-interference values.
Immune status of children with obstructive sleep apnea/hypopnea syndrome

Objective: We aimed to evaluate the immune status of children with obstructive sleep apnea/hypopnea syndrome (OSAHS). Methods: Fifty children with OSAHS having the symptoms of “snoring, mouth breathing and suffocating during sleep”, who were admitted in our hospital from May 2014 to May 2016, were randomly selected. Another 52 healthy, age- and gender-matched children were enrolled as control subjects after taking informed consent. After admission, the peripheral venous blood was collected. T cell subsets and cytokines were analyzed by flow cytometry. Immunoglobulin and complement levels were detected by immunoassay analyzer. Results: The percentage of CD8+ T lymphocytes in children with OSAHS was (26.47 ± 1.52)% which was significantly higher than that of control group ((21.94 ± 1.92)%) (P<0.05). OSAHS group had a significantly lower CD4+/CD8+ ratio (1.24 ± 0.12) than that of control group (1.45 ± 0.11) (P<0.05). The two groups had similar percentages of CD3+ and CD4+ T lymphocytes (P>0.05). OSAHS group had significantly higher serum levels of IL-4, IL-6, IL-10 and IFN-γ than those of control group (P<0.05), but their IL-2 and TNF-α levels were similar (P>0.05). The serum IgA and C3 levels of OSAHS group significantly exceeded those of control group (P<0.05), but their IgG, IgM and C4 levels were similar (P>0.05). Conclusion: Children with OSAHS had increased percentage of CD8+ T lymphocytes and decreased CD4+/CD8+ ratio, suggesting this group had poor immune function. Increase in humoral immune-related indices IL-4, IL-6, IL-10 and IFN-γ indicated the occurrence of oxidative stress and systemic inflammatory status.
Investigation of the concave curvature effect for an impinging jet flow

The concave curvature effect for an impinging jet flow is discussed in this paper. To do so, a submerged axisymmetric isothermal impinging jet at a Reynolds number (based on the nozzle diameter and the bulk velocity at the nozzle outlet) Re = 23 000 and for a nozzle to plate distance of two jet diameters H = 2D is considered. This investigation is done numerically using a wall-resolved large-eddy simulation. Two geometrical arrangements are studied. These correspond to a jet impinging on a flat plate and a jet impinging on a hemispherical concave plate with a relative curvature D/d = 0.089, where d is the concave plate diameter. A detailed comparison shows that both flow configurations are very similar in terms of flow dynamics and heat transfer behaviors. The same mechanisms, coming from the initial jet instability and driving the heat transfer at the wall, are found for both geometries. However, a reduction of the mean wall heat transfer is reported for the jet impinging on the concave surface when compared to the flat plate impingement. This reduction mainly comes from the alleviation of the secondary peak. The deterioration of wall heat transfer is shown to be caused by a reduction in the intensity of the intermittent cold fluid injections generated by the secondary structures. These weaker events are assumed to be the consequence of the stabilizing normal pressure gradient, in the outer layer of the wall jet, induced by the concave curvature of the plate. This result goes against the current consensus, inherited from boundary layer studies, that is to say, that concave curvature enhances the heat transfer rate at the wall due to the formation of Görtler vortices. In an attempt to explain the contradictory result of the present study, a discussion is proposed in this paper showing that the commonly used analogy with boundary layer results must be made with care owing to several inherent differences between impinging jet and boundary layer flows.
Revisiting Skip-Gram Negative Sampling Model with Regularization

We revisit skip-gram negative sampling (SGNS), one of the most popular neural-network based approaches to learning distributed word representation. We first point out the ambiguity issue undermining the SGNS model, in the sense that the word vectors can be entirely distorted without changing the objective value. To resolve the issue, we investigate the intrinsic structures in solution that a good word embedding model should deliver. Motivated by this, we rectify the SGNS model with quadratic regularization, and show that this simple modification suffices to structure the solution in the desired manner. A theoretical justification is presented, which provides novel insights into quadratic regularization . Preliminary experiments are also conducted on Google's analytical reasoning task to support the modified SGNS model.
Radio Tomographic Imaging Based On Quartile Outliers Filter and PCA

Device-free wireless localization (DFL) that does not need the target equipped with any device is a new technique which could estimate the location by analyzing its shadowing effect on surrounding wireless links. This technique neither requires the target to be equipped with any device nor involves privacy concerns, which makes it an attractive and promising technique for many emerging smart applications. Therefore, how to characterize the influence of human behaviors is the key question. However, the distance estimation based on received signal strength indicator (RSSI) is easily affected by the temporal and spatial variance due to the multipath effect, which contributes to most of the estimation errors in current radio tomographic imaging (RTI) system. This paper proposes a device-free passive localization algorithm based on Quartile Outliers Filter (QOF) and Principal Component Analysis (PCA). In this work, we explore and exploit lower quartile and upper quartile of the original RSSI to identify and remove the outliers caused by the multipath effect or hardware facilities, and apply PCA to extract the most useful features. Extensive experiments performed in a clutter indoor laboratory and a building courtyard with 20 wireless nodes demonstrate that the outstanding performance of the proposed scheme.
Mapping and microsatellite marker development for the porcine leukemia inhibitory factor receptor (LIFR) and epidermal growth factor receptor (EGFR) genes

Leukemia inhibitory factor receptor (LIFR), epidermal growth factor receptor (EGFR), and their respective ligands have been implicated in regulating growth and development of the early pig conceptus. We isolated a PAC clone containing the porcine gene for LIFR and a BAC clone with the porcine EGFR gene, respectively. On each of these clones one microsatellite marker was identified by sequencing a collection of subclones. These gene-associated markers were evaluated by genotyping of 202 unrelated boars of four different breeds. Based on fluorescence in situ hybridization and radiation hybrid mapping, the porcine LIFR gene was assigned to SSC16q13→q14. The EGFR gene mapped to SSC9q26.