Miracle-dz/UniFAR-FTUs huggingface dataset:
A Kinematic Control Framework for Asymmetric Semi-autonomous Teleoperation Systems

This thesis presents a unified framework for coordination and control of humanin-the-loop asymmetric semi-autonomous robotic systems. It introduces a highly general teleoperation system configuration involving any number of operators, haptic interfaces, and robots with possibly different degrees of mobility. The proposed framework allows for mixed teleoperation/autonomous control of userdefined subtasks by establishing position/force tracking as well as kinematic constraints among relevant teleoperation control frames. Three layers of velocity-based autonomous subtasks at different priority levels with respect to human teleoperation are integrated into the control system design. The control strategy is hierarchical comprising of a high-level teleoperation coordinating controller and lowlevel joint velocity controllers. A Lyapunov-based adaptive joint-space velocity controller is presented as one candidate for the low-level control. The approach utilizes idempotent, generalized pseudoinverse and weighting matrices, as well as a soft-switching rank changing algorithm in order to achieve new performance objectives that are defined for such asymmetric semi-autonomous teleoperation systems. A detailed analysis of system performance and stability is presented. The proposed framework constitutes the most general formulation and solution for the teleoperation control problem to date. It yields many interesting and useful iv system configurations never studied before, in addition to those already considered in the literature. In particular, seven system configurations arising from the proposed teleoperation architecture are analyzed and studied in detail. Experimental results are provided to demonstrate the desired system response in these configurations. Moreover, human factors experiments are carried out to assess operator(s) performance in maneuverability and grasping under various teleoperation system configurations. The results show statistically significant performance improvement in teleoperation of a nonholonomic mobile robot and telegrasping using a twin-armed manipulator.
Climate change trends in the forest-meadow zone of the Middle Urals and their impact on technological approaches to corn cultivation

The results of the analysis of long-term trends in changes in individual climatic characteristics and variations in weather conditions of the growing season in the forest-meadow zone of the Middle Urals for the period from 1958 to 2020 are presented, their influence on the choice of hybrids and some elements of corn cultivation technology are estimated. As a result of calculating the linear trend, a statistically proven trend has been established to increase the sum of active temperatures above 10 °C for May – September. At the same time, random fluctuations of the analyzed parameters over the years have a direct impact on corn development and productivity, and the limiting factor is the lower limit of these fluctuations, the values of which increase throughout the analyzed period. Nevertheless, the variation over the years remains strong, and the lower limit of these fluctuations does not reach the minimum level for the stable maturation of early-maturing corn hybrids. Therefore, for the conditions of the Middle Urals, the previous recommendations concerning the selection of corn hybrids for early maturity, cold resistance and drought resistance remain relevant. At the same time, the revealed climatic trend allows to predict an increase in the probability of obtaining feed with a high content of exchange energy, which characterizes it as positive one.
Soft Gamma-ray Repeaters and Anomalous X-ray Pulsars: Magnetars or Quark Stars?

Recent measurements of the spin-down rates of soft gamma ray repeaters (SGRs) and anomalous X-ray pulsars (AXPs) have been interpreted as evidence that these objects are “magnetars”: neutron stars spinning down by magnetic dipole radiation, but with a magnetic ﬁeld two orders of magnitude larger than that of ordinary neutron stars. We discuss the evidence disfavouring this interpretation. We argue that, instead, the observations support the hypothesis that SGRs and AXPs are neutron stars that have suﬀered a transition into a denser form of nuclear matter to become, presumably, strange stars or quark stars.
POTENTIAL OF CURATELLA AMARICANA L. AGAINST SARS-COV2: BIOAVAILABILITY, MOLECULAR SIMILARITY AND MOLECULAR DOCKING BETWEEN SECONDARY METABOLITES AND PROTEASE TYPE 3-CHYMOTRYPSIN (3CLPRO)

We report the bioavailability analysis for six secondary metabolites with antiviral, antioxidant and antitumor activity reported, from Curatella amaricana L. Additionally, the molecular similarity analysis of each metabolite is presented and compared with Lopinavir, Ritonavir, Darunavir, Cobicistat and Nelfinavir, which actually are in the third phase for the production of a new vaccine for SARS-Cov2. The mode of interaction through molecular docking between each structure and the zone of action for protease type 3-chymotrypsin (3CLpro) also is presented. The molecular geometry for structures were optimized at semiempirical PM6 level. The bioavailability and molecular docking calculations were performed using the algorithms incorporated in chemoinformatic servers and AutoDock Vina. The results show that the structures studied lead a moderated permeability through the cell membrane, by complying with Lipinski's "rule of 5". Molecular similarity was evaluated by averaging geometric parameters (3D-Shape) and electrostatic potential (ESP). The results show that the most secondary metabolites would have a similar mode of action as the Lopinavir, with average similarity between 0.65 and 0.73. This last idea is reinforced by the results for molecular docking with the 3CLpro active site, highlighting the interaction of the molecules studied with the amino acid residues: His-41, Phe-140, Gly-143, Ser-144, Cys-145, His-163, Glu-166 and His-172, with an range interaction-free energy between -7.2 kcal/mol and -9.2 Kcal/mol, highlighting Quercetin 3-O-Alpha-L-rhamnoside with improve affinity energy than Lopinavir.
Password-Based SIMSec Protocol

The purpose of the SIMSec protocol is to provide the infrastructure to enable secured access between the SIM (Subscriber Identity Module) card which doesn’t have an ephemeral key installed during production and the service provider. This infrastructure has a form based on agreements among the mobile network manufacturer, the user, the service provider and the card manufacturer. In order to secure transactions, authentication methods are used based on the fact that both parties can verify that they are the parties they claim to be. In this study, the key exchange and authentication models in the literature have been surveyed and the password-based authentication model is chosen. For the SIMSec protocol, the password-based authentication algorithm is integrated into the SIMSec protocol. Thanks to the proposed new structure, phase differences in the SIMSec protocol are shown. As a result, a new key exchange protocol is proposed for SIM cards.
Wave-to-wire Modelling of Wave Energy Converters

Short-term wave forecasting plays a crucial role for the control of a wave energy converter (WEC), in order to increase the energy harvest from the waves, as well as to increase its life time. In the paper it is shown how the surface elevation of the waves and the force acting on the WEC can be predicted using FIR filter. The predictors have been validated in laboratory with unidirectional regular and irregular waves. Here a single point absorber, (1:20) scale of the Wavestar device, is used. The results show that it is possible to predict wave and forces acting on the device using a properly designed FIR filter
Investigating design features of a computer-mediated communication system

Computer-mediated communication (CMC) is increasingly used in higher education, but it is not without problems. The effectiveness of CMC depends on many factors, including the characteristics of CMC systems themselves. The research reported here therefore aimed to investigate how an educational CMC system might be improved, in order to support learning more effectively. The main context for the research was distance learning at the UK Open University (OU). A two-stage, mixed methods research approach was adopted. In the first stage, interviews and observations were carried out to explore the benefits and problems experienced by users. This revealed two major issues: information overload and lack of social presence. Information overload relates to users’ problems dealing with large numbers of messages. Social presence relates to the need for users to feel connected with each other. The second stage investigated system features aimed at addressing these issues, implemented in a prototype computer conferencing system. Features to address overload included branched message threading and user recommendations. Features to address social presence were ‘resumes’ and instant messaging. These features were evaluated using questionnaires, with several cohorts of students in an OU course. Students expressed approval of the features, although some features were not widely used. Students preferred branched threading to chronological threading because branching helped them to follow ‘conversations’. Students were uncomfortable recommending messages, feeling that the value of a message would vary between people. They were also uncomfortable using instant messaging to contact others whom they did not know. However, the awareness aspect of instant messaging provided a sense of solidarity. The research demonstrated that the problems of overload and lack of social presence are significant, and each has social aspects which must be addressed. Students’ relationships with each other affect whether and how they use the features of CMC systems. We can conclude that particular attention must be paid to the social aspects of online communication, both when designing educational CMC systems and when considering how they are used. To maximise the benefits for learning, students need to feel comfortable with each other online, and there are few short cuts to achieving this.
THE SUSTAINABILITY OF THE ISLAMIC MALAY CULTURAL MOTIFS IN CONTEMPORARY BUILDINGS

After The National Cultural Congress was held in 1971, it has brought the idea of Islamic principles through the artistic development process. The Muslim artists have begun to shift and focused on the Islamic ideology to reflect their understanding towards the relationship between man, universe and its Creator. This phenomenon has somehow perceived the emergence of several remarkable masterpieces created by major Muslim artists which utilizing various unique methods in showing Islamic identity through their creative processes. Among the motifs which reflect the understanding of the traditional Malay ornaments called as ‘Awan larat’. It has mainly used and served as a symbol of Islamic identity in most traditional architecture buildings such as mosque, house and even contemporary building. However, due to the modern globalization nowadays have given a new perception to the Malay society and the influences from the western country have somehow detached from applying this motif. The Islamic Malay Cultural ideology has slowly misplaced and being neglected by the Malay society. Therefore, this study aimed to understand in depth the implementation of this motif in several selected buildings in order to sustain the level of awareness among Malay society regarding the significance of the Malay Cultural Heritage. The objectives of this research were to identify the elements of the Malay ornaments as well as to analyze the function of motifs that applied in a selected contemporary building. The findings of this research showed that the lack of understanding among Malay culture was one of the factors that influenced the lack of applying these motifs on contemporary buildings. It can be said that a lot of information pertaining to the beauty of Islamic Malay cultural motif needs to be revised in order to sustain the understanding of these spirits. Islamic Malay cultural motifs have its own unique character, which allows users to be used in various forms and purposes. It is hoped that this research will make some small contribution toward guiding a Malay society to understand better and appreciate the Islamic art heritage.
Scoping Review Protocol v2

Section of Nephrology, Department of Medicine, Loei General Hospital, Thailand. Department of Health Behavior and Biological Sciences, and Department of Computational Medicine and Bioinformatics, University of Michigan, Ann Arbor, MI, USA. Department of Biostatistics, University of Michigan, Ann Arbor, Michigan, USA Division of Nephrology, Department of internal medicine, Khon Kaen University. Thailand
Role of myosin II tail sequences

Myosin is a family of actin-based molecular motors. Class II or conventional myosin, referred to as simply ‘myosin’ hereafter, is made up of two identical heavy chains and two pairs of light chains. The amino-terminal half of the heavy chain and one each of the light chains form a single globular head domain, where the motor activity resides. Two carboxyl halves of the heavy chains dimerize to form a coiled coil tail, which is involved in assembly of bipolar filaments. In the cellular slime mold Dictyostelium discoideum, myosin is involved in cell motility, changes in cell shape, cytokinesis, and development of fruiting bodies (reviewed by Spudich, 1989). During cytokinesis of Dictyostelium and animal cells, a cleavage furrow is formed in the equatorial region following nuclear division. Myosin was shown to be concentrated in the furrow by immunofluorescence staining (Fujiwara and Pollard, 1976; Yumura et al., 1984) and observation of GFP-fused myosin (Moores et al., 1996). This myosin in the furrow region appears essential for functional contractile rings, because injection of antimyosin antibody inhibits formation of the cleavage furrow in starfish blastomeres (Mabuchi and Okuno, 1977). Moreover, Dictyostelium cells devoid of myosin cannot constrict the furrow region and perform cytokinesis in suspension culture (De Lozanne and Spudich, 1987; Knecht and Loomis, 1987; Manstein et al., 1989). That myosin’s role in driving cytokinesis is contractile rather than merely structural was recently demonstrated using a series of Dictyostelium mutant myosins carrying point mutations in the head domain which inhibit the motor activity (Ruppel and Spudich, 1996). Unlike muscle myosin, localization of nonmuscle myosin within cells changes dynamically under elaborate temporal and spatial regulation, in accordance with the progression of the cell cycle or in response to stimuli from outside. Because of its unique ability to express recombinant myosins in the absence of endogenous wild-type myosin, Dictyostelium has been one of the preferred experimental systems to study regulation and localization of nonmuscle myosins (Yumura et al., 1984; Yumura and Fukui, 1989; Egelhoff et al., 1993; Moores et al., 1996; Yumura and Uyeda, 1997a,b; Sabry et al., 1997; Neujahr et al., 1997). Three-dimensional analysis of wild-type mitotic Dictyostelium cells (Neujahr et al., 1997) showed that myosin is diffusely distributed in the prometaphase endoplasm. It is then recruited uniformly to the cortical region during metaphase. At the onset of anaphase the cortical myosin is transported to the equatorial region, which then constricts to form the cleavage furrow along the cortex (Yumura and Uyeda, 1997a; Sabry at al., 1997). Here an interesting and obvious question arises: how is myosin 2195 Journal of Cell Science 112, 2195-2201 (1999) Printed in Great Britain © The Company of Biologists Limited 1999 JCS0340
The development of cloud modelling and motion analysis for virtual environment

Modelling the natural phenomena such as clouds is one of the most challenging problems in computer graphics. The complexity of cloud formation, dynamics and light interaction makes real time cloud modelling a difficult task. The visual portrayal of the sky and cloud is a common requirement when rendering the outdoor scenes in computer graphics. The traditional way to create the sense of cloudy is by using the captured sky images as background. This main output of this project is a cloud modelling editor for designing cloud shapes namely RekAwan. The editor provides integrated environment for modelling volumetric clouds with particle system and surfaced based cloud using texture. This invention uses the newly developed randomized algorithm to fill the cloud volume with particle systems. Randomized method provides an efficient mean in modelling cloud particles data very quickly and filling the cloud volume space with particles randomly. The invention gives on-the-fly control over size of particles and number of particles and radius of particles in the system. This shows its suitability for real time virtual reality applications such as flight simulator and 3D games. The user can pass through the cloud with realistic visual effect. The completed 3D cloud model output from RekAwan can be easily imported into any OpenGL based virtual environment such as simulator, animation and games. RekAwan can also become plug-ins to current commercial 3D modeller software such as AutoCAD, 3D Studio Max, Maya and Rhino3D. The potential industries that highly use RekAwan are weather visualization, film, advertisement, games and flight simulator. This invention will cut the development cost of the industry such as simulator and entertainment. This product can be used effectively by 3D artists, designers and game developer to model cloud shapes easily through interactive user interface. It is simple to use, efficient and gives extensive control over the cloud shapes. RekAwan can also be used to model any other gaseous object such as smoke, haze and fog.
What Should We Teach about Design-build Contracts? A Learning Module.

The popularity of the design-build method of project delivery is increasing in the United States. There are important differences between design-build and the more traditional method of designbid-build. Getting the details right in the contracts can make the difference between success or failure. Professional organizations publish standard form contracts to assist their constituents to create accurate and comprehensive contracts. This paper identifies which standard form contracts are available and some important issues to consider when negotiating any construction contract. It is written to be used as a learning module for any course related to design-build.
Stratégies de résolution anytime de problèmes de satisfaction de contraintes numériques

Résumé Un algorithme Branch-and-Prune calcule un pavage de l’ensemble des solutions d’un problème de satisfaction de contraintes numériques à une précision donnée. Un algorithme anytime stoppe le calcul prématurément, par exemple en limitant le temps de calcul. Cet article revisite les algorithmes Branch-and-Prune Anytime et introduit deux nouvelles stratégies de recherche ainsi que trois indicateurs de qualité pour les comparer. Une étude de complexité et une analyse expérimentale montrent que ces nouvelles stratégies sont pertinentes. Abstract A Branch-and-Prune algorithm computes a paving of the solution set of a numerical constraint satisfaction problem to a given precision. An anytime algorithm pre-maturely stops the computation to a given criterion (for example a maximum running time). This article revises anytime Branch-and-Prune algorithms and introduces two new search strategies and three quality indicators to compare them. The evaluation of their complexity and an experimental analysis enabled to prove the eﬃciency of those new strategies.
Life-Cycle Energy Implications of Downtown High-Rise vs. Suburban Low-Rise Living: An Overview and Quantitative Case Study for Chicago

It is commonly accepted that the concentration of people in high-density urban city centers, which are typically dominated by medium- and high-rise buildings located close to public transit systems, offers greater overall energy efficiency and lower life-cycle greenhouse gas emissions than lower-density expanded suburbs, which are dominated by low-rise single-family buildings and larger per-person automobile travel requirements. However, few studies have combined quantitative analyses of the life-cycle energy use of both buildings and transportation in both urban and suburban areas, especially in American cities. This work uses a variety of data sources to provide a quantitative comparison of the life-cycle energy consumption associated with residential life (including buildings, transportation, and supporting infrastructure) in prototypical downtown high-rises and suburban low-rises in and around Chicago, IL. We estimate that downtown high-rise living in Chicago, IL accounts for approximately 25% more life-cycle energy per person per year than suburban low-rise living, on average, contrary to some common beliefs (best estimates were ~141 and ~113 GJ/person/year, respectively). Building operational energy use was found to be the largest contributor of the total life-cycle energy in both the
Attention correlated appearance and motion feature followed temporal learning for activity recognition

Recent advances in deep neural networks have been successfully demonstrated with fairly good accuracy for multi-class activity identification. However, existing methods have limitations in achieving complex spatial-temporal dependencies. In this work, we design two stream fusion attention (2SFA) connected to a temporal bidirectional gated recurrent unit (GRU) one-layer model and classified by prediction voting classifier (PVC) to recognize the action in a video. Particularly in the proposed deep neural network (DNN), we present 2SFA for capturing appearance information from red green blue (RGB) and motion from optical flow, where both streams are correlated by proposed fusion attention (FA) as the input of a temporal network. On the other hand, the temporal network with a bi-directional temporal layer using a GRU single layer is preferred for temporal understanding because it yields practical merits against six topologies of temporal networks in the UCF101 dataset. Meanwhile, the new proposed classifier scheme called PVC employs multiple nearest class mean (NCM) and the SoftMax function to yield multiple features outputted from temporal networks, and then votes their properties for high-performance classifications. The experiments achieve the best average accuracy of 70.8% in HMDB51 and 91.9%, the second best in UCF101 in terms of 2DConvNet for action recognition.