Miracle-dz/UniFAR-FTUs huggingface dataset:
A Magnetically Steerable and Automatically Propulsion Guidewire Robot System for Vascular Interventional Surgery

Magnetically soft continuum robot with automatic navigation capability has great potential to improve the treatment conventional vascular interventional surgery, which exists many problems such as long procedure time and high radiation for doctors to manipulate the passive guidewire. This paper proposes a novel guidewire robot system with magnetically steering and automatically propulsion ability. Actuated by an external magnetic field, the system is able to greatly increase the autonomy of conventional guidewires through the efficient coordination of steering and propulsion. We model the kinematics of autonomous propulsion and magnetically actuation steering separately. Then, the steering performance of the guidewire robot is validated under different magnetic field magnitudes and directions. Finally, two scenario application experiments are implemented to demonstrate the automatic navigation capability of the proposed guidewire robot in a simulated clinical environment. The proposed guidewire robot system provides an effective solution for advancing the automation of vascular interventional surgery.
A rapid perturbation procedure for determining nonlinear flow solutions: Application to transonic turbomachinery flows

Perturbation procedures and associated computational codes for determining nonlinear flow solutions were developed to establish a method for minimizing computational requirements associated with parametric studies of transonic flows in turbomachines. The procedure that was developed and evaluated was found to be capable of determining highly accurate approximations to families of strongly nonlinear solutions which are either continuous or discontinuous, and which represent variations in some arbitrary parameter. Coordinate straining is employed to account for the movement of discontinuities and maxima of high gradient regions due to the perturbation. The development and results reported are for the single parameter perturbation problem. Flows past both isolated airfoils and compressor cascades involving a wide variety of flow and geometry parameter changes are reported. Attention is focused in particular on transonic flows which are strongly supercritical and exhibit large surface shock movement over the parametric range studied; and on subsonic flows which display large pressure variations in the stagnation and peak suction pressure regions. Comparisons with the corresponding 'exact' nonlinear solutions indicate a remarkable accuracy and range of validity of such a procedure.
Universal Zero Dynamics Attacks Using Only Input-Output Data

The main goal is to demonstrate that a zero dynamics type of attack on a nonlinear plant can be designed and executed using only input-output data. Specifically, it will be shown that a system identification scheme based solely on Chen-Fliess series can be used to synthesize an input-output model with sufficient fidelity so as to design a suitable attack signal. Central to the proposed scheme is the notion of universal zero dynamics. This is a generalization of zero dynamics for finite dimensional systems based not on a state space model, but rather on a Chen-Fliess series representation of the input-output system. In addition, a large part of the attack generation can be done offline, so this provides an open-loop approach. The ultimate goal of this line of research is to evaluate the degree of theoretical vulnerability of cyber-physical systems to such threats so that realistic defensive measures can be investigated and implemented.
The Critical HTGR Test Facility KAHTER–An Experimental Program for Verification of Theoretical Models, Codes, and Nuclear Data Bases

The critical facility KAHTER was used to verify and to adjust theoretical models describing the physics of pebble-bed high-temperature gas-cooled reactors. Using methods such as evaluating critical masses, flux mappings, and reaction rate measurements, more sophisticated experimental and theoretical methods have been developed to get exact information and interpretation of control rod efficiency, power determination, and fast neutron damage.
A New Circuit for Efficient and Robust Two-Phase Delay-Insensitive Global Communications

The communication between many resources for System-on-Chip (SoC) design in modern Integrated Circuits (ICs) is a challenge due to significant wire delays in Deep Sub-Micron MOS (DSM-MOS) technology, and an increase in latency and power consumption is a problem in synchronous systems. As an alternative, asynchronous circuits, that uses handshake protocols can be used to decrease this problem. Asynchronous handshake protocols are two-phase or four-phase, and both of them provide good advantages over the other. In this paper, we propose a new circuit for efficient and robust conversion between the Level-Encoded Dual-Rail (LEDR) code, which operates in the two-phase protocol, and the traditional dual-rail code. The proposed circuit was synthesized in Field Programmable Gate Arrays (FPGA) for experimental validation, which achieved an average reduction in latency of 6.31% and an average increase of 9.95% in throughput compared with other proposal from the literature.
A Novel Aircraft Porthole Cleaning Robot Based on Negative Pressure Suction

In most cases, aircraft portholes are cleaned manually, which is time-consuming and labor-intense. In this paper, a novel aircraft porthole cleaning robot system is proposed to improve cleaning efficiency and automation level of existing methods. The robot system consists of two mobile adhesion modules and a frame equipped with cleaning mechanism. The adhesion mechanism derives from negative pressure suction which is generated by the extraction of air from sealed chamber. Static analysis and simulation-based optimization of adhesion mechanism is presented. Also, system modeling based on fluid analysis is given, and negative pressure control based on PID is studied. Finally, experiments are carried out to validate the prototype of the robot.
EFFECT OF HYSTERECTOMY WITH OPPORTUNISTIC SALPINGECTOMY FOR UTERINE FIBROIDS ON THE DEVELOPMENT OF METABOLIC SYNDROME AND WAYS OF ITS REDUCTION

The aim of the study – to determine the effect of hysterectomy with opportunistic salpingectomy for uterine fibroids on the manifestation and progression of metabolic syndrome and to develop ways of reducing the identified changes. Materials and Methods. A comprehensive clinical and laboratory evaluation of the influence of hysterectomy with opportunistic salpingectomy for uterine fibroids on the development of metabolic syndrome was performed in the Gynecological Department of Municipal Non-Profit Enterprise “Kyiv Perinatal Center”. 160 women were included in the study: 90 patients underwent vaginal hysterectomy including fallopian tubes (both classical and associated with laparoscopy), and 70 women underwent abdominal hysterectomy including fallopian tubes. Results and Discussion. The development and progression of hypoestrogenemia after hysterectomy with opportunistic salpingectomy contributes to the loss of cardioprotective effects of estrogen, accompanied by psychoemotional and vegetative-vascular dystonia in the early postoperative period of mild and moderate degree, mostly in women under 45 years (30.63 % and 71.86 %, respectively), while metabolic and endocrine abnormalities are practically absent. At the same time, 12 months after surgery, 56.9 % of patients undergo gradual formation of the main components of the metabolic syndrome – hyperglycemia, insulin resistance, dyslipidemia, increasing parameters of atherogenic lipid fractions, increased BMI and vegetative dystonia of the hypertensive type. Conclusions. The use of metabolic therapy in the remote postoperative period allowed to control blood pressure and improve the clinical and laboratory parameters, namely reducing the level of atherogenicity index by 1.3 times (p<0.05), glycated hemoglobin, OGTT, HOMA index – by 0.8 times against baseline before treatment, which was accompanied by improvement of psycho-emotional and vegetative-vascular manifestations.
High Resolution and Stability Self-Reference Plasmonic Sensor With Metallic Grating on Multilayered Dielectric Cavity Substrate

In order to improve the sensing performance of surface plasmon resonance (SPR) refractive index (RI) sensor and avoid the negative effect of various environmental factors, a self-reference plasmonic sensor with high resolution and stability based on the combination of metallic grating and multilayered dielectric cavity is proposed in this article. The sensing mode, based on SPR in the metallic grating, is sensitive to the RI variations of the analyte. The guided mode resonances (GMRs), excited by the multilayered dielectric cavity, can be served as self-references due to the insensitivity to the analyte’s RI variations. It is verified that the sensitivity of 500 nm/RIU is achieved, and the smallest sensitivity of self-reference resonance is 0.83 nm/RIU; thus, the sensitivity ratio (stability) is up to 602. Also, a large figure of merit (FOM) of 238 RIU−1 in the sensor is realized and a high-quality factor of 4668 of self-reference mode with high resolution is achieved, which is much better than that of the previous works. The results provide a theoretical basis to design a highly sensitive self-reference plasmonic sensor and have a potential application in the industrial measuring instruments such as the sensor to measure water content in heavy oil.
Adenoid Cystic Carcinoma of Head and Neck

Adenoid cystic carcinoma is an uncommon salivary gland tumour that often may arise with an advanced stage at diagnosis. The clinical and pathological patterns are characterized by slow growth, peri-neural invasion, multiple local recurrences and distant metastases. The optimal treatment is generally radical surgical resection and is almost always followed by postoperative radiotherapy. Much effort has been invested into understanding the tumour’s molecular biological processes, aiming to identify patients at high risk of recurrence, in hope that they could benefit from other, still unproven treatment modalities such as chemotherapy or biological therapy. This article provides an update on the current understanding of adenoid cystic carcinoma of the head and neck, including a review of its epidemiology, clinical behavior, pathology, molecular biology, diagnostic workup, treatment and prognosis.
Closed-loop Electromagnetic Actuation System for Magnetic Capsule Robot In a Large Scale

Accurate positioning and efficient movement are essential for magnetic capsule endoscopy, which has attracted more and more attention in recent years. However, moving in the desired trajectory often conflicts with precise positioning, as magnetic localization is only feasible in a small area near the sensors. In this paper, we proposed a closed-loop magnetic capsule robot actuation system, which can accomplish localization and actuation simultaneously on a large scale in the fluid environment of the human body. To achieve large-scale detection, electromagnetic coil and sensor array are fixed together on a 3-axis screw mobile platform. The distribution of magnetic field is analyzed with magnetic dipole model and rectangular electromagnetic coil model. Levenberg-Marquardt algorithm has been employed to estimate the position of the capsule robot by subtracting the actuation magnetic field. PI closed-loop controller with localization of the robot as feedback is applied in the system. Although the response speed of the system with the PI controller is not fast, it could perform well in stability, which is expected when the capsule is moving inside the human body. Two specific path following experiments were carried out to verify the performance of simultaneous localization and movement on a large scale. Results showed that the proposed system and method could work well.
Remote Sensing Image Detection Based on YOLOv4 Improvements

Remote sensing image target object detection and recognition are widely used both in military and civil fields. There are many models proposed for this purpose, but their effectiveness on target object detection in remote sensing images is not ideal due to the influence of climate conditions, obstacles and confusing objects presented in images, image clarity, and associated problems with small-target and multi-target detection and recognition. Therefore, how to accurately detect target objects in images is an urgent problem to be solved. To this end, a novel model, called YOLOv4_CE, is proposed in this paper, based on the classical YOLOv4 model with added improvements, resulting from replacing the backbone feature-extraction CSPDarknet53 network with a ConvNeXt-S network, replacing the Complete Intersection over Union (CIoU) loss with the Efficient Intersection over Union (EIoU) loss, and adding a coordinate attention mechanism to YOLOv4, as to improve its remote sensing image detection capabilities. The results, obtained through experiments conducted on two open data sets, demonstrate that the proposed YOLOv4_CE model outperforms, in this regard, both the original YOLOv4 model and four other state-of-the-art models, namely Faster R-CNN, Gliding Vertex, Oriented R-CNN, and EfficientDet, in terms of the mean average precision (mAP) and F1 score, by achieving respective values of 95.03% and 0.933 on the NWPU VHR-10 data set, and 95.89% and 0.937 on the RSOD data set.
Direct Charge Control for Mixed Conduction Mode Grid-Connected Inverter

Discontinuous conduction mode (DCM) for inverters can lower the size of filter inductors and can realize the soft switching for switches. However, the current stress under the DCM is high. Aiming to solve this problem, this article uses a T-type three-level circuit to construct an LCL-type grid-connected inverter, which introduces the trapezium conduction mode (TPCM) with the zero-voltage switching to lower the current stress when the grid current is large. Both the DCM and the TPCM can work at a fixed switching frequency, but it is difficult to design controllers using the conventional average state model. To address this challenge, this article proposes a charge quantity model (CQM) that is applicable to any inverter topology and conduction mode, where the output charge quantity of the bridge is used as a control variable. The proposed model represents a linear two-order model, which can greatly simplify controller design. Based on the CQM, a direct charge control method working at a fixed switching frequency is developed, which combines a PID regulator and a feedforward controller of the grid voltage. The excellent steady-state and dynamic control performances of the proposed model and control method are verified by simulations and experiments.
Efficacy and Safety of Udenafil Once Daily in Patients with Erectile Dysfunction after Bilateral Nerve-Sparing Robot-Assisted Laparoscopic Radical Prostatectomy: A Randomized, Double-Blind, Placebo-Controlled Study

Purpose To evaluate the efficacy and safety of udenafil 75 mg once daily in patients with erectile dysfunction following bilateral nerve-sparing robot-assisted laparoscopic radical prostatectomy (BNS-RALP). Materials and Methods A multi-center, prospective, randomized, controlled, double-blind study was conducted. Among patients with localized prostate cancer with international index of erectile function-erectile function domain (IIEF-EF) score of 18 or higher before BNS-RALP, those who developed postoperative erectile dysfunction (IIEF-EF score 14 or less at 4 weeks after BNS-RALP) were enrolled. Enrolled patients were randomly assigned to the udenafil 75 mg daily group or the placebo group in a 2:1 ratio. Each subject was followed up at 8 weeks (V2), 20 weeks (V3), and 32 weeks (V4) to evaluate the efficacy and safety of udenafil. Results In all, 101 patients were screened, of whom 99 were enrolled. Of the 99 patients, 67 were assigned to the experimental group and 32 to the control group. Ten (14.93%) patients in the experimental group and 10 (31.25%) in the control group dropped out of the study. After 32 weeks of treatment, IIEF-EF score of 22 or higher was seen in 36.51% (23/63) of patients in the experimental group and 13.04% (3/23) patients in the control group (p=0.021). The proportion of patients with IIEF-EF improvement of 25% or more compared to the baseline was 82.54% (52/63) in the experimental group and 62.96% (17/27) in the control group (p=0.058). Conclusions Udenafil 75 mg once daily after BNS-RALP improved the erectile function without any severe adverse effects.
Vehicle Overtaking in a Bidirectional Mixed-Traffic Setting

With the advent of autonomous vehicles on public roads imminent in the near future, special emphasis needs to be placed on addressing scenarios pertaining to mixed-traffic settings, comprised of human-driven and autonomous vehicles. In this paper, we address the problem of autonomous vehicle overtaking in a bidirectional mixed-traffic setting. We design a mixed-integer model predictive controller that maximizes the ego vehicle’s velocity while prioritizing safety and accounting for driver comfort. The proposed approach: (i) operates in a limited sensing range while accounting for occlusion; (ii) is able to retract the overtake decision through a receding horizon approach; (iii) is robust to the variations in sensory input and driving behaviors of external agents due to behavior-dependent safety margins; and (iv) reduces to a mixed-integer optimization problem with linear constraints, yielding low computational complexity. We demonstrate the behavior of the proposed approach in a realistic traffic simulation environment.
Analysis of Knowledge, Attitude, and Behaviours of Midwives Working in Delivery Rooms on Drug Practices and Patient Safety

The study aims to identify knowledge levels of midwives working in delivery rooms on drug safety practices. The Population of the study consisted of 33 midwives who work at a delivery unit of a public hospital in Adana. 21 midwives who willingly accepted to participate in the study between 1-22 March 2016 formed the sample. It was found that 42.9% of the participants stated they do not do errors, 52.4% notify adverse effects, 33.3% notify the doctor of the patient about their drug error, 47.6% have good knowledge level regarding drug interactions and side effects of the drugs, none of the participants answered two of the eight rights of drug administration principles, namely; right drug form and right documentation principles. A statistically significant positive correlation was found between their working years in the delivery room and knowledge of drug administration principles (p<0.05). In conclusion, delivery nurses should receive in-service training on drug administration principles and drug safety, and they should be encouraged to report drug errors in order to improve the situation.
Supercritical problems on manifolds

Let $(M,g)$ be a $m$-dimensional compact Riemannian manifold without boundary. Assume $\kappa\in C^2(M)$ is such that $-\Delta_g+\kappa$ is coercive. We prove the existence of a solution to the supercritical problems $$ -\Delta_gu+\kappa u= u^p,\ u>0\quad\hbox{in}\ (M,g)\quad\hbox{and}\quad-\Delta_gu+\kappa u=\lambda e^u\quad\hbox{in}\ (M,g) $$ which concentrate s along a $(m-1)-$dimensional submanifold of $M$ as $p\to\infty$ and $\lambda\to0$, respectively, under suitable symmetry assumptions on the manifold $M$.
ScaleFlux: Efficient Stateful Scaling in NFV

Network function virtualization (NFV) enables elastic scaling to middlebox deployment and management. Therefore, efficient stateful scaling is an important task because operators often need to shift traffic and the associated flow states across VNF instances to deal with time-varying loads. Existing NFV scaling methods, however, typically focus on one aspect of the scaling pipeline and does not offer an end-to-end scaling framework. This article presents ScaleFlux, a complete stateful scaling system that efficiently reduces flow-level latency and achieves near-optimal resource usage. ScaleFlux (1) monitors traffic load for each VNF instance and adopts a queue-based mechanism to detect load burstiness timely, (2) deploys a flow bandwidth predictor to predict flow bandwidth time-series with the ABCNN-LSTM model, and (3) schedules the necessary flow and state migration using the simulated annealing algorithm to achieve both flow-level latency guarantee and resource usage minimization. Testbed evaluation with a five-machine cluster shows that ScaleFlux reduces flow completion time by at least 8.7× for all the workloads and achieves near-optimal CPU usage during scaling.
AI-based Academic Advising Framework: A Knowledge Management Perspective

—Academic advising has become a critical factor of students’ success as universities offer a variety of programs and courses in their curriculum. It is a student-centered initiative that fosters a student’s involvement with the institution by supporting students in their academic progression and career goals. Managing the knowledge involved in the advising process is crucial to ensure that the knowledge is available to those who need it and that it is used effectively to make good advising decisions that impact student persistence and success. The use of AI-based tools strengthens the advising process by reducing the workload of advisors and providing better decision support tools to improve the advising practice. This study explores the challenges associated with the current advising system from a knowledge management perspective and proposes an integrated AI-based framework to tackle the main advising tasks.
Effect of ReRAM Neuromorphic Circuit Array Variation and Fault on Inference Accuracy

In this paper, we study the inference accuracy of Resistive Random Access Memory (ReRAM) based neuromorphic circuit under various array faults using fully analog SPICE simulations. The ReRAM Verilog-A model is calibrated to the experiment and a 45nm realistic Process Design Kit (PDK) is used. A handwritten dataset is used for the demonstration with a neural network containing 3 hidden layers. The faults studied include the random variations of ReRAM gap size due to gap size drifting and the “stuck-off” faults with various spatial shapes in the ReRAM arrays. We also study how the faulty array location in the neural network affects circuit fault tolerance. Finally, we propose fault-aware processing and layout guidelines for extending the lifetime of ReRAM neuromorphic circuits for Internet-of-Things (IoT) applications.
Group Connectivity of Graph with Odd Cycle

LetG be an undirected graph, A be an (additive) abelian group and * A = A- {0}. A graph G is A -connected if G has an orientation D(G) such that for every function b :V(G) ® A satisfyinvI V(G),b(v) =0, there is a function * f : E(G) ® A such that at each vertex v I V(G), ( ) ( ) e ED v f e + I a - ( ) ( ) e ED v f e - I a =b(v) . In this study, we proved that if G has an odd cycle C and for every vertex ( ), ( ) 3 C vI V G d v = ,then G has no 3 Z - NZF . Furthermore, we proposed a few applications of this result.
Safe Policy Design for Controlling Epidemic Spreading under Heterogeneous Testing Capabilities

This paper studies a model that captures epidemic spreading in a population with heterogeneous testing capabilities. The detection of the disease is faster in a subpopulation because of access to better testing capabilities, whereas another subpopulation relies on standard testing to confirm positive cases once individual have manifested symptoms. This model is a particular case of a recently proposed vectorized SIR model, for which we characterize various invariance properties and the stability properties of its set of equilibria. We leverage these analytical results to design social distancing policies that guarantee that the impact of the pandemic satisfies certain specifications, namely, that the total capacity of the healthcare system does not get overburdened and that the total number of infections throughout the pandemic remains below a thresh-old. Simulations illustrate the extent to which higher testing capabilities allow for more lenient social distancing policies.