Miracle-dz/UniFAR-FTUs huggingface dataset:
Toward Active Physical Human–Robot Interaction: Quantifying the Human State During Interactions

Unanticipated physical actions from the robot on humans [active physical human–robot interaction (pHRI)] may be inevitable with the deployment of robots in human-populated environments. However, it is still unclear how humans would perceive such actions and how the robot should execute them in a physically and psychologically safe manner. The objective of this article is to explore the possibility of quantifying the humans’ physical and mental state during an active physical interaction with a robot, by means of a laboratory experiment. We hypothesize that the active robot actions could cause measurable alterations in users’ data, which could be related to their perceptions and personalities. In the experiment, the user plays a visual game using the robot, which has a hidden task that results in active physical actions on the user. We collect data from physical and physiological sensors, and the perceptions and personalities via questionnaires and a semi-structured interview. Statistical analysis and clustering of the data collected from a total of 35 participants showed the relationships between participants’ physical and physiological data and their age, gender, perception, and personalities. Further developments based on these exploratory outcomes can be used to implement an active pHRI controller that can account for both the physical and the mental state of users.
Report on Wind Turbine Subsystem Reliability - A Survey of Various Databases (Presentation)

Wind industry has been challenged by premature subsystem/component failures. Various reliability data collection efforts have demonstrated their values in supporting wind turbine reliability and availability research & development and industrial activities. However, most information on these data collection efforts are scattered and not in a centralized place. With the objective of getting updated reliability statistics of wind turbines and/or subsystems so as to benefit future wind reliability and availability activities, this report is put together based on a survey of various reliability databases that are accessible directly or indirectly by NREL. For each database, whenever feasible, a brief description summarizing database population, life span, and data collected is given along with its features & status. Then selective results deemed beneficial to the industry and generated based on the database are highlighted. This report concludes with several observations obtained throughout the survey and several reliability data collection opportunities in the future.
Exploitation of geometric and propagation phases for spin-dependent rational-multiple complete phase modulation using dielectric metasurfaces

Metasurfaces have drawn considerable attention in manipulation of electromagnetic waves due to their exotic subwavelength footprints. Regardless of immense progress of polarization-dependent flat optics, the realization of on-device switchable complete phase multiplication is still missing from design multifunctional devices. Here, by combining geometric and propagation phases, a generalized design principle is proposed that can achieve switchable integer or fractional multiple complete phase modulation in transmitted circularly cross-polarized light by switching the handedness of incident polarization. As a proof of concept, two types of spin-dependent bifunctional wavefront manipulating devices, including switchable beam splitter/beam deflector and spin-to-orbital angular momentum converter designs are numerically realized. It is believed that the proposed single-cell spin-switchable rational-multiple complete-phase-modulation design principle based on combined propagation and geometric phases has great potential to underpin the development of meta-optics-based multifunctional operations in the field of integrated optics, imaging, and optical communication.
Teaching Practicum: Teacher-educators’ and Student-teachers’ Voices from the Field

The present study aimed to assess the complexity of teaching practicum and its effectiveness from both the perspectives of teacher-educators and student-teachers in one of the public sector university in Gilgit-Baltistan, Pakistan. Semi-structured interviews were taken from four teacher-educators and 25 student-teachers. The interview-data were analyzed thematically. Feedback from school mentors and hosting-department supervisor was not available to student-teachers as expected. Student-teachers’ excitement to have school experiences of engaging with children was the area of motivation for student-teachers to learn. Teacher-educators felt challenging to provide quality feedback to student teachers due to heavy work load, high number of students as well as the uninterested student-teachers in their own learning. We recommend introducing a reward system for the school mentors as well as transport facility for hosting-department supervisors to access easily to the student-teachers to address their expectations in a timely and effective manner. Keywords: Teacher Education; Student-teachers; Practicum; Prospective teachers; Perspectives
Tribological behavior prediction of composite MoS2-TiO2 coating using Taguchi coupled artificial neural network approach

Solid lubricants have been popularly used in tribological applications by virtue of their excellent lubricating properties in extreme environmental conditions. The tribological performance of such lubricated surfaces can be significantly enhanced by optimization of the coating material properties. In the present study, the composite MoS2-TiO2 coating is fabricated and studied the different parameters affecting the tribological behavior of the developed coating using design of experiment Techniques such as Taguchi and artificial neural network (ANN) approach. The optimization study was performed by considering the various input parameters such as addition of wt. % of TiO2 into the MoS2 base matrix, contact pressure, sliding speed, and pin surface temperature which affects the coating’s material tribological properties. The Taguchi approach reveals that pin surface temperature has the highest influence, followed by contact pressure, and wt. % addition of TiO2. The responses predicted using both Taguchi and ANN were compared and it has been observed that ANN helps to predict the responses more accurately compared to the Taguchi approach.
Mechanism and Kinematics for Flapping Wing Micro Air Vehicles Maneuvering Based on Bilateral Wings

With the development and application of a bionic flapping micro aircraft vehicle (FMAV), further requirements for its high maneuvering flight characteristics have been put forward. A controlling tail cannot meet the requirements of the maneuvering flight of insect-sized FMAVs, and it has become necessary to find new mechanisms for high maneuvering flight. In this study, two flapping mechanisms with movable hinges based on a double crank rocker mechanism (DCRM) and a single crank slider mechanism (SCSM) are proposed. The instantaneous flapping angles, their extremum and means, and the flapping amplitudes of the two mechanisms are studied for various hinge offsets. A comparison between these two mechanisms indicates that the mechanism based on SCSM is more appropriate in providing adjustable flapping amplitudes for lateral wings. Finally, a dragonfly-like prototype assembled using a carbon fiber plate with adjustable wings is designed and manufactured based on the SCSM. Flight tests are conducted to show that the rack and pinion mechanism can accomplish the movement of hinges neatly, and the proposed flapping mechanism makes left turns and right turns effectively while continuing to fly forward. The prototype is good in terms of crashworthiness and the replacement of components, and it offers an easy and reliable technique for the maneuvering flight of FMAVs.
Steady-state analysis of a plain gradient algorithm for a second-order adaptive IIR notch filter with constrained poles and zeros

Gradient-type algorithms for adaptive infinite-impulse response (IIR) notch filters are very attractive in terms of performance and computation cost. However, it is generally quite difficult to assess their performances analytically. There are several trials to analyze adaptive algorithms, such as the sign and the plain gradient algorithms for some types of adaptive IIR notch filters, but the analysis techniques used cannot be directly applied to different types of adaptive IIR notch filters. This brief presents closed form expressions for steady-state estimation bias and mean square error (MSE) of a well known plain gradient (LMS-like) second-order adaptive IIR notch filter with constrained poles and zeros. First, theoretical expressions for output signals of the notch filter and its corresponding gradient filter at their steady states are developed based on the Taylor series expansions of transfer functions of these two filters in the vicinity of the sinusoidal signal frequency difference equations for convergences in the mean and mean square are then established by using these output signals, from which the steady-state bias and MSE of the algorithm are derived. Stability bound of the algorithm is also investigated based on the difference equations. Extensive simulations are provided to support the analytical findings.
Modelo esfuerzo-recompensa, salud y enfermedad en personal sanitario: una revisión sistemática

psicosociales del entorno laboral de los sanitarios y desarrollar y aplicar programas de intervención para que haya un ajuste adecuado entre esfuer- zos y recompensas. Scientific literature has shown relation between the perception of a high Effort-Reward Imbalance (ERI) and poor health or disease in healthcare workers. The aim of the study was to carry out a systematic review of how psychosocial risks in the work environment, conceptualized from the effort-reward imbalance model, influence different dimensions of health or illness in health care professionals. Articles that were published between 2010 and 2019 were reviewed by consulting Web of Knowledge, PsycINFO and Scopus databases. 27 scientific articles were included. High ERI and over-commitment are associated with poor health or disease in different dimensions.The main limitations of this review are a possible publication bias and the impossibility of establishing causal relationships between environmental psychosocial risks and health or illness. It is necessary to address the psychosocial risks of the health care work environment and to imple- ment improvement programs to achieve a good balance between efforts and rewards.
Shovel ready : razing hopes, history, and a sense of place : rethinking Schenectady's downtown strategies

American industrial cities, particularly in the Northeast and Midwest, have seen a steep decline in manufacturing jobs over the past so years. For those cities whose economies were not diversified and relied on one or two major companies for their employment base, the job loss has been particularly crippling. This decline, coupled with the flight of retail, service, and otherjobs to the outlying suburbs as well as a loss in upperand middle-income residents to those same areas, has left many cities decimated. Perhaps nowhere has the effect of this been more apparent than in the downtown areas of these cities. This thesis will examine the growth and decline of the downtown in American cities as well as the development of one city's downtown in particular, Schenectady, New York. A number of interventions, projects, and proposals that have been part of the struggle to reverse the decline of that city's core will be examined. These will be considered within a problem-solving process to discover where assumptions were faulty or where externalities negatively influenced them-contributing to missed objectives and goals. Where applicable, alternative means of reaching the stated goals will be explored. This thesis will also explore the idea of a community vision and explore the role it plays in determining the direction that downtown revitalization takes. After outlining the past interventions, this thesis will consider and evaluate the current programs, projects, and organizations that are involved in the latest round of redevelopment efforts in the downtown. It will look at the assets that the city should consider building on as well as the liabilities that are holding it back. This thesis will also make recommendation for future strategies and consider the questions: What makes a healthy, downtown, and how can Schenectady direct its efforts toward achieving this goal? and Are the current projects and likely to bring the city closer towards that objective, and if not, what other options should be explored. Thesis Advisor: John de Monchaux Title: Professor of Architecture and Planning
Enhanced electromechanical resilience and mechanism of the composites-coated fabric sensors with crack-induced conductive network for wearable applications

Conductive composites-coated fabric sensors are favorable sensing elements for wearable applications. However, rheology of composites ingredients has been causing inaccuracy due to high hysteresis and low instantaneity in real-time measurements. To address this problem, a composites-coated fabric-based strain sensor was fabricated and studied. A physical pretreatment scheme was designed to produce cracked surface morphology on the conductive composites film, yielding a stable conductive network. Results showed that this scheme can significantly lower the electrical hysteresis of the sensors by about 35% and effectively reduce electrical and mechanical relaxation, hence notably improved electromechanical resilience of the sensors. It is also found that the linear strain-resistance property of the sensors was largely retained after pretreatment. Sensing mechanism of the cracked sensors was further derived to understand the results. Through all the observations and application prospect demonstrated by two sensing belts, it is suggested that cracking can be considered to improve sensing performance for other coated fabric flexible sensors.
Protein Hydrolysate from Splendid Squid (Loligo formosana) Fins: Antioxidant, Functional Properties, and Flavoring Profile

Protein hydrolysates (PH) from splendid squid fins (Loligo formosana) (SFPH) with different degrees of hydrolysis (DH) (10-40%) were prepared using alcalase and characterized. The yield of SFPH was increased with increasing DH (p<0.05). All SFPHs showed high protein content but low fat and ash contents. The lightness of SFPH was reduced with augmenting DH as advocated by increasing redness and yellowness (p<0.05). All SFPH samples having DH above 10% exhibited relative solubility higher than 90% (p<0.05). Foaming properties of SFPH were also improved with increasing DH. In general, antioxidant activities upsurged with increasing DH, except metal chelating activity and DPPH radical scavenging activity, which were decreased at higher DHs. Molecular weight (MW) of peptides was lowered with increasing DH as measured by size exclusion chromatography and SFPH having DH 40% (SFPH-40) possessed a higher proportion of peptides with smaller MW. SFPH-40 was rich in aspartic acid/asparagine and glutamic acid/glutamine. SFPH-40 had bitterness, especially at high concentrations. SFPH-40 contained a high number of volatile compounds associated with squid flavor. Thus, hydrolysates from squid fin could serve as an alternative nutrient with flavoring characteristics and antioxidant properties for food applications.
Timing, volume and precursory indicators of rock‐ and cliff fall on a permafrost mountain ridge (Mattertal, Switzerland)

High mountain environments are increasingly affected by rockfall‐related hazards, driven by climate change. Studying rockfall in these environments is, however, challenging due to the inaccessibility of mountain ridges and the complex interaction between controlling factors. In this study, the rock wall of Grosse Grabe North Pillar in the Matter valley (Western Swiss Alps) was studied in detail over a timespan of 4 years (2017–2021). Data was collected from time‐lapse photography, terrestrial laser scanning, unmanned aerial vehicle photogrammetry and seismic measurements. The presented dataset is unique because data collection started before the onset of the rock wall destabilization, allowing us to understand precursory indicators of large‐scale events. In total, we recorded 382 rock‐ and cliff fall events (100–31 300 m3), with a total volume of 204 323 ± 8173 m3, resulting in a scar depth of ~40 m. An associated rock wall retreat rate of 71.2 ± 2.8 mm year−1 was calculated for the 1991–2021 period. Highly fractured south‐exposed gneiss lithology is viewed as the main predisposition for the observed rock‐ and cliff fall events, allowing high‐temperature oscillations to cause irreversible movements at fracture level. Cliff falls (104–106 m3) were preluded by an outward movement of the rock wall that started to increase 1.5 years before any significant collapse of the rock wall, reaching locally up to 30 cm. All cliff fall events occurred in summer, exposing ice in the clefts. This is assumed to be the base of the permafrost from the north side. Rapid permafrost degradation is viewed as a triggering factor after its exposure, causing progressive failure of the rock wall, leading to very high rock wall retreat rates on a decadal timescale.
Unravelling the backbone of climate networks from the analysis of collective dynamics and time reversal

Many complex systems are characterized by interconnected units often difficult, or even impossible, to map through direct observations, while the dynamics of units is mostly easier to measure. The reconstruction of an unknown structure from the observed dynamics is a typical inverse problem in network‐based approaches to overcome such obstacles. However, this procedure is affected by the interplay between the structure and dynamics, as well as by the choice of the statistical method. In this study, collective behaviour of the Earth's climate system was investigated by focusing on three distinct climatological variables in monthly time step using a causality measure to separately construct climate networks through a robust statistical analysis. Multiplex network (MUX) was used to integrate the information obtained from collective dynamics and time reversal for better filtering spurious connectivity. In fact, the proposed approach mitigates undesired effects of pairwise statistical inference by adjusting for unphysical relationships in two layers of the constructed networks. The results indicate that the mere existence of statistical errors allowed by the hypothesis testing lead, inevitably, to reconstruct spurious connections in the null models even when the collective dynamics consists of white‐noise datasets from uncoupled units. The impact of spurious connections with the MUX dynamics is not remarkable to reconstruct the underlying plausible interactions; therefore, the concepts of MUX might be employed with the statistical analysis to unravel the backbone of climate networks. In this way that the inferred connections could distinguish highly connected regions for better understanding interconnected dynamical patterns, yielding deep insights into underlying physical interactions between the oceans and atmosphere. More specifically, edge directionality features provide a complementary tool for analysing topology of the networks with respect to the climatological variables, identifying relevant patterns in the climate system.
DC-101: How Adaptive Aggregate Contextual Recommender Benefits IP-based TV Services

Nowadays, for achieving personalized content offering, IPbased TV services make use of recommendation systems to automatically suggest programs for users. In such recommenders, to avoid filter bubbles, the research focus is recently transferred to diversity and novelty after many years of pursuing accuracy and personalization. Despite that many approaches have been proved effective to increase the diversity and novelty in recommenders, their defects as unexplainable results and non-interactivity make them not so friendly to users. On the other hand, contextual factors such as timing, location, company by other people etc., which possess quite clear context meanings are proved influential on IPbased TV services’ users’ choices. Such contextual factors were often integrated in recommenders though, to my best knowledge, their roles of reasonably increasing diversity and novelty haven’t been detailed studied yet. In this Ph.D. work, I plan to realize an “Adaptive Aggregate Contextual Recommender” for IP-based TV services, which makes uses of multiple contextual factors in an adaptive way to resolve the issues of interpretability and interactivity when increasing diversity and novelty in recommenders.
Flexible Mechanical Metamaterials Enabled Electronic Skin for Real‐Time Detection of Unstable Grasping in Robotic Manipulation

Electronic‐skin (E‐skin) has been investigated extensively for robotic tactile sensing. However, E‐skin sensors based on flexible metamaterials are still challenging to achieve. Moreover, the implementation of E‐skin sensor arrays in the actual monitoring of robotic grasping and manipulation conditions are rather limited due to the difficulty in data processing. Herein, high‐performance E‐skin strain sensors based on flexible auxetic metamaterials are reported, which endow the sensors with the capability of measuring both compressive (40%) and tensile (>80%) strain in a wide range and superior sensitivity, as compared with sensors without the structure. With perception data collected by the sensors, a generic method for real‐time detection of unstable robotic grasping is established. Through this method, the complicated problem of processing large‐scale arrayed sensor signals is simplified into the calculation of two indices, which extract both time and frequency domain characteristics of the signals. The total detection time (including sensor measurement response and data processing) can be as short as 100 ms, in line with human skin response in slippage perception. Accurate detections in real‐time during various grasping and manipulation tasks are presented, demonstrating the great value of the sensors and the detection approach in robotic perception and dexterous manipulation.
Mechanically reprogrammable Pancharatnam–Berry metasurface for microwaves

Abstract. Metasurfaces have enabled the realization of several optical functionalities over an ultrathin platform, fostering the exciting field of flat optics. Traditional metasurfaces are achieved by arranging a layout of static meta-atoms to imprint a desired operation on the impinging wavefront, but their functionality cannot be altered. Reconfigurability and programmability of metasurfaces are the next important step to broaden their impact, adding customized on-demand functionality in which each meta-atom can be individually reprogrammed. We demonstrate a mechanical metasurface platform with controllable rotation at the meta-atom level, which can implement continuous Pancharatnam–Berry phase control of circularly polarized microwaves. As the proof-of-concept experiments, we demonstrate metalensing, focused vortex beam generation, and holographic imaging in the same metasurface template, exhibiting versatility and superior performance. Such dynamic control of electromagnetic waves using a single, low-cost metasurface paves an avenue towards practical applications, driving the field of reprogrammable intelligent metasurfaces for a variety of applications.