Miracle-dz/UniFAR-FTUs huggingface dataset:
Robust Leader-follower Formation Control of Mobile Robots Based on a Second Order Kinematics Model

In this paper, we study the problem of modeling and controlling leader-follower formation of mobile robots. First, a novel kinematics model for leader-follower robot formation is formulated based on the relative motion states between the robots and the local motion of the follower robot. Using this model, the relative centripetal and Coriolis accelerations between robots are computed directly by measuring the relative and local motion sensors, and utilized to linearize the nonlinear system equations. A formation controller, consisting of a feedback linearization part and a sliding mode compensator, is designed to stabilize the overall system including the internal dynamics. The control gains are determined by solving a robustness inequality and assumed to satisfy a cooperative protocol that guarantees the stability of the zero dynamics of the formation system. The proposed controller generates the commanded acceleration for the follower robot and makes the formation control system robust to the effect of unmeasured acceleration of the leader robot. Furthermore, a robust adaptive controller is developed to deal with parametric uncertainty in the system. Simulation and experimental results have demonstrated the effectiveness of the proposed control method.
SEARCHING FOR HIGH-REDSHIFT SUPERCLUSTERS

"superclusters" of metal-line systems (thought to be associated with galaxies) at large redshift, analogous to the absorbers found in the field surrounding the southern pair Tol 1037/1038. The unique ability of QSO absorption lines to reveal modest columns of gas at high redshift allows a pencil-beam survey of interesting fields. By concentrating on QSOs with known, rich, metal-line absorption systems and searching catalogs for nearby QSOs lying behind the proposed clusters, we have identified a number of promising fields. Initial results from QSOs surrounding Q1303+308 support the BAL hypothesis for the absorption in this object. We show that further observations will be of substantial use in delineating the extent and overdensity of superclustering at redshifts z ~ 1-2.
A Novel BRCA1 Gene Mutation Detected With Breast Cancer in a Vietnamese Family by Targeted Next-Generation Sequencing: A Case Report

Hereditary breast cancer is an inherited genetic condition, mainly caused by BRCA1 and BRCA2 gene mutations. These genetic changes can increase the risks of breast and ovarian cancers in women, while prostate and breast cancers in men. Especially, mutations in either BRCA1 or BRCA2 genes take important roles in early-onset breast cancer. The present study focused on a 47-year-old Vietnamese woman with breast cancer by applying targeted next-generation sequencing technique. A novel BRCA1 gene mutation, namely NM_007294. 3 (BRCA1): c.4998insA (p. Tyr1666Terfs), was identified both in this patient and in some of the members in her family proved the fact that the mutated genes passed down through generations. This change may exponentially initiate breast cancer risks and become a valuable marker for exact clinical prognosis and treatment.
The energy levels of muonic atoms

The theory of muonic atoms is a complex and highly developed combination of nuclear physics, atomic physics, and quantum electrodynamics. Perhaps nowhere else in microscopic physics are such diverse branches so intimately intertwined and yet readily available for precise experimental verification or rejection. In the present review we summarize and discuss all of the most important components of muonic atom theory, and show in selected cases how this theory meets experimental measurements.
Terahertz quantum cascade structures: Intra- versus interwell transition

Terahertz quantum cascade structures (emission around 20 meV) based on intra- and interwell transitions have been compared in magnetotransport and intersubband-electroluminescence experiments. The interwell transition exhibits a Stark shift of up to 6 meV. We also observe a smaller energy shift of the intrawell transition which is attributed to the tunnel splitting, when the initial and final subbands mix with those of the injectors. The electric field induced narrowing of the emission line and our band structure calculations support this interpretation. The quantum efficiency of the electroluminescence is of similar magnitude for the two transitions, despite their large difference in the spatial subband overlap.
Factors affecting children’s speech communication in classrooms

A child’s ability to hear and communicate with speech in the classroom is influenced by several factors, including talker characteristics (level, clarity, dialect), the acoustical environment (noise level, reverberance), and listener characteristics (hearing status, cognitive development, language level, exposure to English). This presentation will review and assess the relative contribution of each factor to the communication requirements of the classroom. An emphasis will be placed on the large individual differences in listener characteristics that are likely to exist in contemporary classrooms, and their impact on the requirements of the acoustic environment for effective speech communication. Recent findings from this laboratory and from other researchers that document the range of speech communication abilities in both difficult and easy listening conditions among school‐age children will be reviewed. Finally, an initial proposal for acceptable levels of background noise and reverberance in classroo.
Root Canal Treatment of Severely Calcified Teeth with Use of Cone-Beam Computed Tomography as an Intraoperative Resource

The aim of this study was to describe a new strategy, consisting of the use of cone-beam computed tomography (CBCT) in the planning and intraoperative stages of root canal treatment (RCT), associated with the use of radiopaque gutta-percha markers, as an auxiliary tool in the location of severely calcified root canals. Three cases involving anterior and posterior teeth with severe calcification of the root canal were submitted to initial periapical radiographic and CBCT evaluations for diagnosis and planning of the operative steps. In a first intervention, when the location of the canal orifice was not successful, radiopaque markers were inserted in the suggested position of canal orifice with the aid of magnification and the use of ultrasonic devices, in order to perform an intraoperative CBCT analysis that allowed dynamic navigation through the static position of markers. The association of intraoperative CBCT with radiopaque markers allowed the location of the canal orifice and the following RCT execution. The use of CBCT in two different moments of RCT allowed the diagnosis of three-dimensional anatomical variations of root canal. Add, when associated with the use of radiopaque gutta-percha markers, acted as an auxiliary tool in the location of the canal orifice of calcified canals. Therefore, the presented strategy provides the clinician the precision that cases with calcification require and give an important contribution to treatment predictability.
The Evolution of a 25 M☉ Star from the Main Sequence up to the Onset of the Iron Core Collapse

We present the evolution of a 25 M☉ star model having solar chemical composition from the pre-main-sequence phase up to the onset of the iron core collapse. This evolution has been obtained with the latest version (release 4.0) of our hydrostatic evolutionary code FRANEC, and hence it is totally homogeneous with all of our stellar evolutions concerning low- and intermediate-mass stars. A network including 149 nuclear species has been fully coupled to the equations describing the temporal variations of the physical quantities. No quasi-nuclear statistical equilibrium approximation has been adopted up to 4 × 109 K. All of the evolutionary properties of the stellar model are discussed in detail. Whenever possible, comparisons with similar evolutions available in the literature have been performed. An iron core mass smaller than the values recently quoted in the literature for the same mass and solar chemical composition has been obtained (MFe = 1.513 M☉).
Ex Vivo Evaluation of Bacterial Leakage and Coronal Sealing Capacity of Six Materials in Endodontically Treated Teeth

Introduction: Successful endodontic treatment requires an effective coronal sealing to prevent the penetration of saliva and microorganisms into the root canal system. We aimed to investigate the sealing capacity of Maxxion R, Intermediate Restorative Material (IRM), Mineral Trioxide Aggregate-like material (Biodentine), White Cimpat, Flow Resin and Z250 Resin against Enterococcus (E.) faecalis infiltrates, when used as coronal sealants after endodontic treatment. Materials and Methods: Sixty-six roots of adult lower premolars were randomly divided into 6 experimental groups with 10 roots each (n=10), and two control groups (positive and negative) with three roots each. The root canals were instrumented to ProTaper F3 file, irrigated with 2.5% NaOCl and 17% EDTA, and filled using Tagger’s Hybrid technique with AH-Plus cement. After removing 2 mm of the coronal third filling with a Gates Glidden #6 drill, the cervical portion of each of the sixty roots was sealed with a 2 mm-thick plug, plus the respective material being tested in this study. All roots were fitted to silicone devices (Eppendorf) with cut extremities and sterilized with ethylene oxide; experimental procedures were performed in a laminar flow chamber for aseptic chain maintenance. All specimens were inoculated with E. faecalis, and the culture medium was renewed every 3 days for 60 days. Medium turbidity was evaluated daily. The obtained data were subsequently submitted to analysis of variance (ANOVA-R) complemented by Student's t-test at a significance level of 5%. Analyzes of variance were calculated using the SAS system GLIMMIX procedure. Results: Biodentine (56.90), Z250 Resin (54.90) and White Cimpat (53.30) resisted contamination for a longer time compared to Maxxion R (51.30), Flow Resin (50.70), and IRM (48.70) over a period of 60 days. Conclusion: Biodentine, Resin Z 250 and White Cimpat presented the lowest infiltration averages when compared to the other tested materials.
Jądrowy test liniowości

Celem referatu jest zaprezentowanie wynikow symulacyjnego badania rozmiaru i mocy jądrowego testu liniowości, ktory nalezy do grupy testow nieparametrycznych. Badanie symulacyjne przeprowadzono dla modeli liniowych i nieliniowych, szacowanych metodą najmniejszych kwadratow oraz metodą najwiekszej wiarygodności. Uzyskane efekty porownano z rezultatami analogicznych symulacji dla: testu RESET, elastycznego testu Hamiltona oraz BDS.
Students' Progress throughout Examination Process as a Markov Chain.

The paper is focused on students of Mathematical methods in economics at the Czech university of life sciences (CULS) in Prague. The idea is to create a model of students’ progress throughout the whole course using the Markov chain approach. Each student has to go through various stages of the course requirements where his success depends on the completion of the previous duties. It makes the whole process ideal for usage of Markov chain theory in practice. We show how students’ achievements during the semester affect the final result of the exam in terms of the final grade. The final grade can be understood as an absorbing state of a Markov chain that is terminal and cannot be transitioned from. With the help of Markov chains, the probability of success at the end of the course is shown regarding the students’ behaviour and diligence during the course. This helps to identify weak or critical stages of the entire course and also supplies the planning of time capacity that will be needed to examine all students in the end. The mathematical model is constructed and consequently used in the case study at the second half of the paper.
Absolute stability and dissipativity of continuous time multilayer recurrent neural networks

In this paper we present a sufficient condition for global asymptotic stability of continuous time multilayer recurrent neural networks with two-hidden layers. The condition is based on a Lur'e-Postnikov Lyapunov function and is expressed as a matrix inequality. With respect to input/output stability a condition for dissipativity is derived, which includes, for example, the cases of passivity and finite L/sub 2/-gain. This result is based on a quadratic storage function plus integral term. For nonlinear modelling and control purposes it enables to modify the classical dynamical backpropagation algorithm with a matrix inequality constraint in order to guarantee stable identified models or stable closed-loop control schemes, in a similar fashion has this can be done in discrete time NL/sub q/ theory.
Rapid acceleration of energetic particles in the 1982 February 8 solar flare

Hard x-ray and gamma-ray measurements of the 1982 February 8 (approx. 1250 UT) solar flare made with spectrometers aboard the ISEE 3 and SMM spacecraft show that bursts of photons from approx.40 keV to approx.40 MeV are coincident to within +- 1 s. This indicates that the acceleration of particles to relativistic velocities can occur promptly (within approx.1 s). As far as the energetic particles interacting at the Sun are concerned, the ''two-phase'' process, which requires several minutes for particle acceleration to relativistic velocities, cannot account for the present gamma-ray observations. Even the ''two-step'' acceleration process, which is assumed to occur in a small magnetic loop, is severely constrained by the present observations.
Mixing for invertible dynamical systems with infinite measure

In a recent paper, Melbourne and Terhesiu [Operator renewal theory and mixing rates for dynamical systems with infinite measure, Invent. Math.189 (2012) 61–110] obtained results on mixing and mixing rates for a large class of noninvertible maps preserving an infinite ergodic invariant measure. Here, we are concerned with extending these results to the invertible setting. Mixing is established for a large class of infinite measure invertible maps. Assuming additional structure, in particular exponential contraction along stable manifolds, it is possible to obtain good results on mixing rates and higher order asymptotics.
Domain Nucleation During Polarization Reversal in Lead Germanate

The kinetics of domain nucleation during polarization reversal in uniaxial ferroelectric lead germanate has been studied in detail using optical methods of visualization of the instantaneous domain configurations. Transient and steady-state regimes of nucleation have been discovered. The contribution of transient nucleation to polarization reversal essentially increases as the field is increased. Attention is drawn to the similarity between ferroelectric switching and a first-order phase transition. The obtained results can be used for the improvement of the description of switching behaviour in high fields.
Stem cells, organoids and their applications for human diseases: Special issue of BMB Reports in 2023

Studying human biology has been challenging with conventional animal models or two-dimensional (2D) cultured cell lines. Recent advances in stem cell biology have made it possible to culture stem cells in vitro, leading to the establishment of in vitro three-dimensional (3D) organ-like structures known as organoids. Organoids are self-organizing 3D miniature tissues that mimic the tissue architecture and functionality of in vivo counterparts. Currently, organoids can be established for multiple tissues such as the intestine, brain, kidney, prostate, pancreas, liver, bladder, heart, and retina, either from pluripotent stem cells (PSCs), including embryonic stem cells (ESCs) and induced pluripotent stem cells (iPSCs), or adult stem cells (AdSCs). In addition to normal organoids, patient-derived tumor organoids have been established from various human tumors such as pancreatic, colorectal, breast, liver, prostate, and bladder tumors. Also, bioengineering technologies including biomaterial and scaffold fabrication, bioprinting, and microfluidics have been recently applied to create more mature and complex organoids and miniature tissues in vitro. Incorporating recently advanced computational analyses including multi-omics profiling and bioinformatics further facilitated the process of using human organoids as a novel platform for human disease modeling, drug screening to identify potential targets and novel therapeutics, and the development of precision medicine and regenerative therapies.
A nodal-based implementation of a stabilized finite element method for incompressible flow problems

SUMMARY The objective of this paper is twofold. First, a stabilized finite element method (FEM) for the incompressible Navier‐Stokes is presented and several numerical experiments are conducted to check its performance. This method is capable of dealing with all the instabilities that the standard Galerkin method presents, namely the pressure instability, the instability arising in convection-dominated situations and the less popular instabilities found when the Navier‐Stokes equations have a dominant Coriolis force or when there is a dominant absorption term arising from the small permeability of the medium where the flow takes place. The second objective is to describe a nodal-based implementation of the finite element formulation introduced. This implementation is based on an a priori calculation of the integrals appearing in the formulation and then the construction of the matrix and right-hand side vector of the final algebraic system to be solved. After appropriate approximations, this matrix and this vector can be constructed directly for each nodal point, without the need to loop over the elements, thus making the calculations much faster. In order to be able to do this, all the variables have to be defined at the nodes of the finite element mesh, not on the elements. This is also so for the stabilization parameters of the formulation. However, doing this gives rise to questions regarding the consistency and the conservation properties of the final scheme, which are addressed in this paper. Copyright © 2000 John Wiley & Sons, Ltd.
Tolerance and Adherence of Patients with Chronic Chagas Disease Treated with Benznidazole

ABSTRACT Background: Chagas disease (CD) treatment is commonly associated with a high incidence of adverse effects. It is crucial to study and update these adverse effects to improve the existing knowledge of which drugs to use and to clarify the information presented to patients. Methods: We analyzed the adverse effects of benznidazole in two cohorts of patients: a large retrospective study and a small prospective study. Results: This large retrospective study described the most and least common adverse effects in our area and characterized our Chagas disease population. This prospective study, along with a close follow-up of the treatment, detected more adverse effects and enhanced the patients’ perception of the disease and treatment. Conclusions: This information is important for preventing non-medical-related withdrawals and for removing baseless fears. Better knowledge of patients could help us provide better care.
Barriers and enablers to young people accessing sexual and reproductive health services in Pacific Island Countries and Territories: A scoping review

Background The number of young people utilising sexual and reproductive health services in Pacific Island Countries and Territories remains poor despite the availability and the existence of the fundamental rights to access these services. Adolescents and youth need accurate information and timely access to contraceptives to prevent adverse consequences associated with unintended pregnancies, abortion, childbirth and untreated sexually transmitted infections. This scoping review identifies and analyses factors contributing to young people’s low access to sexual and reproductive health information and services in this region. Methods Guided by the PRISMA Scoping review guidelines, we searched three databases (Medline Ovid, Scopus and CINAHL Complete) for peer-reviewed articles published between 1st January 2000 and 31st August 2020 that reported on factors, including barriers and enablers, affecting access to sexual and reproductive health information and services by young people living in Pacific Island Countries and Territories. We assessed the quality of each study according to the study designs, methods of data collection, data analysis and ethical considerations. All information was sorted and organised using an Excel Spreadsheet. Text data from published articles were charted inductively using thematic analysis with no predetermined codes and themes. Findings Five hundred eighty-nine articles were screened, and only eight met the inclusion criteria outlined in this scoping review protocol. These eight articles reported studies conducted in four Pacific Island Countries and Territories: Cook Islands, Fiji, Papua New Guinea, and Vanuatu. Factors such as lack of accurate sexual and reproductive health knowledge and social stigma were the leading causes of young people’s limited access to sexual and reproductive health services. Cultural and religious beliefs also invoked stigmatising behaviours in some family and community members. Conclusion This scoping review revealed that social stigma and judgemental attitudes imposed by family and community members, including healthcare providers, hinder young unmarried individuals in Pacific Island Countries and Territories from accessing sexual and reproductive health information and contraceptives. Alternatively, a non-judgmental healthcare provider is perceived as an enabler in accessing sexual and reproductive health information and services. Moreover, given that only a few studies have actually focused on young people’s sexual and reproductive health needs in the region, more research is required to fully understand the health-seeking behaviours of young people in their specific contexts.
Development of a universal toric intraocular lens calculator

We present a method for calculating the ideal toric lens to implant in astigmatic patients following cataract surgery. We show that the online calculators provided by major toric IOL manufacturers are insufficient for both theoretical and practical reasons. We reveal important theoretical shortcomings in their approach, illustrated by a number of cases which demonstrate how the approach can lead to errors in lens selection. Our approach combines the spherical and cylindrical power calculations into one, and allows for lens data from any manufacturer to be used, eliminating the reliance on multiple programs.
Top-K Strongly Related Projects Pairs Mining Algorithm Based on Threshold Estimate

This paper presents a candidate set in the case does not produce only scan through a database to extract the top-k strongly correlated item pairs method. Secondly, the structural information using a relational database, an appropriate estimate of the effective threshold, so that the results of K contains at least one project to effectively address the relational database on the Top-K strongly related to the problem of mining projects, and without Pay too much computational cost.