Miracle-dz/UniFAR-FTUs huggingface dataset:
Landing System Development Based on Inverse Homography Range Camera Fusion (IHRCF)

The Unmanned Aerial Vehicle (UAV) is one of the most remarkable inventions of the last 100 years. Much research has been invested in the development of this flying robot. The landing system is one of the more challenging aspects of this system’s development. Artificial Intelligence (AI) has become the preferred technique for landing system development, including reinforcement learning. However, current research is more focused is on system development based on image processing and advanced geometry. A novel calibration based on our previous research had been used to ameliorate the accuracy of the AprilTag pose estimation. With the help of advanced geometry from camera and range sensor data, a process known as Inverse Homography Range Camera Fusion (IHRCF), a pose estimation that outperforms our previous work, is now possible. The range sensor used here is a Time of Flight (ToF) sensor, but the algorithm can be used with any range sensor. First, images are captured by the image acquisition device, a monocular camera. Next, the corners of the landing landmark are detected through AprilTag detection algorithms (ATDA). The pixel correspondence between the image and the range sensor is then calculated via the calibration data. In the succeeding phase, the planar homography between the real-world locations of sensor data and their obtained pixel coordinates is calculated. In the next phase, the pixel coordinates of the AprilTag-detected four corners are transformed by inverse planar homography from pixel coordinates to world coordinates in the camera frame. Finally, knowing the world frame corner points of the AprilTag, rigid body transformation can be used to create the pose data. A CoppeliaSim simulation environment was used to evaluate the IHRCF algorithm, and the test was implemented in real-time Software-in-the-Loop (SIL). The IHRCF algorithm outperformed the AprilTag-only detection approach significantly in both translational and rotational terms. To conclude, the conventional landmark detection algorithm can be ameliorated by incorporating sensor fusion for cameras with lower radial distortion.
Design and application of ship management information system under intranet environment

A method of MIS work mode that is based on the mixture of C/S and B/S model is put forward.On the ship,the transport protocols of some subsystems are TCP/IP,which established the C/S model based on Intranet.And the other transport protocols are TCP/IP and HTTP,which established the B/S model based on Intranet.So the integrate work model of ship MIS under Intranet environment is constructed,and the system network platform and application platform are established.The actural effect is improved well.
Effect of dietary supplementation of Tryptophan, Arginine, and Glutamine on growth performance, gut morphology, immune response and meat quality of broiler chicken

Two experiments were conducted to evaluate the supplemental effects of Arginine (Arg), Glutamine (Gln) and Tryptophan (Trp) on growth performance, gut morphology, immune response and meat quality of broilers. In experiment 1, 312 one-day-old Ross×Ross broiler chicks with similar body weight were randomly assigned to 4 dietary treatments (C, control having no amino acids; Arg, a diet with 0.5% L-Arg; Gln, a diet with 0.5% L-Gln and Trp, a diet with 0.5% L-Trp), each containing 6 replicate cages with 13 birds per cage. For further confirmation, experiment 2 considered similar treatments as of experiment 1. Body weight and feed intake were measured weekly. At 2nd and 6th weeks of age, 12 birds per treatment were killed in both experiments to measure gut morphology, serum IgG and IgA and meat quality of broilers. In Expt 1, results showed that dietary Arg, Gln and Trpsupplementation significantly increased (P< 0.05) weight gain and feed intake of broilers than those of control group. In experiment 2, a similar performance trend was obtained compared to Experiment 1. Circulating levels of IgG and IgA were increased with supplementation of AAs in the diet. In both experiments, the breast and drumstick muscles of the group of birds feed amino acids had a higher pH and redness (a*) values, but lower lightness (L*) and yellowness (b*) values of meat. Chicks fed diet with Arg, Gln and Trp had longer villi height and villi to crypt depth ratio, and shorter crypt depth as compared with the control (P<0.05). Thus the addition of Arg, Trp and Gln each at 0.5% in the diet of broiler chicken enhanced growth performance, immunity, gut morphology and meat quality characteristics of broiler.
A prediction method for spatially decaying freestream turbulence

A simple set of equations, capable of quantifying and predicting the spatial decay of freestream turbulence (FST) is derived in the current study. The prediction equations are based on the inviscid estimate of the turbulent kinetic energy (TKE) dissipation rate. The new set of model equations includes the integral length scale and the turbulent kinetic energy as variables and is superior to the previous set of decay equations because, unlike those, they are not dependent on any physical grid parameters (b or M). This new set of equations, when compared and validated against 17 sets (2 active grids, 2 multi-scale grids, 9 square-cross-sectioned grids and 4 circular cross-sectioned grids) of previous, well-accepted, experimental data, including those relating to grid-generated turbulence and covering a wide range of turbulent Reynolds number (ReLu 0) (7.5 × 101 to 6.9 × 104), where Lu 0 is the initial integral length scale, showed very good agreement (within ±15%). This set of correlation equations can be used to estimate the local and/or initial turbulent kinetic energy and integral length scale (Lu ) in an FST flow and to locate the region within a flow domain where nearly-constant turbulence conditions are expected to prevail.
Contribution of the reservoir backflow to the eutrophication of its tributary: a case study of the Xiangxi River, China

Based on the routine water quality monitoring data of the Xiangxi River and its main monitoring section from January 2014 to May 2016, the monthly dynamics of nutrient concentrations and fluxes were analyzed, and the relationship between the water exchange between the reservoir and the tributaries and the changes of nutrient fluxes in the river was established. The results showed that the nutrient flux in the Xiangxi bay estuary was negatively correlated with the reservoir reflux intensity, and the overall correlation coefficient was −0.52. Four nutrient indexes, total nitrogen, total phosphorus, ammonia nitrogen (), and soluble phosphorus, all showed the same regularity and characteristics, among which was particularly prominent. It can be concluded that the variation of nutrient salts in the water body of the tributary bay is mainly determined by the water exchange between the reservoir and the tributary. In addition, the change of chemical oxygen demand and chlorophyll a flux in the Xiangxi Bay and water exchange in the reservoir area were analyzed. We found that changes in the hydraulic conditions of the return flow in the reservoir area can destroy the suitable flow environment necessary for the survival of algae, thus preventing the proliferation of harmful algae. Therefore, by controlling the hydrodynamic conditions between the reservoir area and the tributaries and changing the degree of water exchange between them, the objective of improving the water environment in the Xiangxi Bay can be achieved to a large extent.
Factors Fostering Shadow Economy Performance in Poland and Lithuania during 2000-2019

This study relies on a calculable and essential analysis of a statistically oriented regression model. Ninety-five variables taken into consideration in this research were grouped into four categories. The first category covers the general macroeconomic situation, the second is devoted to crime, the third is formed by characteristics of income and living conditions, and the fourth one applies to the taxation system. The Multiple Indicators Multiple Causes (MIMIC) model was employed to measure the level of shadow economy in Poland and in Lithuania during 2000-2019. The MIMIC model depends on Structural Equation Models. The MIMIC approach allows one to assess shadow economy as a latent variable. The observed factors are government employment/labor force, tax burden, subsides/GDP, social benefits paid by government/GDP, self-employment/GDP, and unemployment rate. The Pearson correlation index was used to size up the correlation between independent variables, and Kolmogorov–Smirnov (KS) test for normality of residuals was applied. In both countries, factors affecting the shadow economy performance show great similarity. The shadow economy development in Poland and in Lithuania is fostered by many different factors, related to, but not limited to, the general macroeconomic situation. In fact, the economic situation is associated with the standard of living, income as well as the crime rate. Important factors are associated with the taxation system. The results demonstrate that the regression model can be used to predict the shadow economy development and performance in Poland and in Lithuania. Such information facilitates taking adequate steps in order to minimize the shadow economy level in both countries. Such implications are very useful for decision makers in shaping the legal and economic progress in both countries.
The Treatment of Advanced-Stage Mycosis Fungoides and Sezary Syndrome: a Hematologist’s Point of View

Cutaneous T-cell lymphomas are a heterogeneous group of T-cell neoplasms involving the skin, the majority of which may be classified as Mycosis Fungoides (MF) or Sézary Syndrome (SS). Mycosis fungoides (MF) is usually associated with an indolent clinical course and intermittent, stable, or slow progression of the lesions. Extracutaneous involvement (lymph nodes, blood, or less commonly other organs) or large cell transformation (LCT) may be seen in advanced-stage disease. Sezary syndrome (SS) is a rare leukemic subtype of CTCL characterized by significant blood involvement, erythroderma, and often lymphadenopathy. Although the early-stage disease can be effectively treated predominantly with skin-directed therapies, systemic therapy is often necessary to treat advanced-stage disease. Systemic therapy options have evolved in recent years with the approval of novel agents such as vorinostat, brentuximab vedotin, and mogamulizumab. This review aims to discuss the diagnosis and management of advanced-stages MF and SS.
Throttling Growth Speed: Evaluation of aux1-7 Root Growth Profile by Combining D-Root system and Root Penetration Assay

Directional root growth control is crucial for plant fitness. The degree of root growth deviation depends on several factors, whereby exogenous growth conditions have a profound impact. The perception of mechanical impedance by wild-type roots results in the modulation of root growth traits, and it is known that gravitropic stimulus influences distinct root movement patterns in concert with mechanoadaptation. Mutants with reduced shootward auxin transport are described as being numb towards mechanostimulus and gravistimulus, whereby different growth conditions on agar-supplemented medium have a profound effect on how much directional root growth and root movement patterns differ between wild types and mutants. To reduce the impact of unilateral mechanostimulus on roots grown along agar-supplemented medium, we compared the root movement of Col-0 and auxin resistant 1-7 in a root penetration assay to test how both lines adjust the growth patterns of evenly mechanostimulated roots. We combined the assay with the D-root system to reduce light-induced growth deviation. Moreover, the impact of sucrose supplementation in the growth medium was investigated because exogenous sugar enhances root growth deviation in the vertical direction. Overall, we observed a more regular growth pattern for Col-0 but evaluated a higher level of skewing of aux1-7 compared to the wild type than known from published data. Finally, the tracking of the growth rate of the gravistimulated roots revealed that Col-0 has a throttling elongation rate during the bending process, but aux1-7 does not.
Production and Characterization of GRC-SWCNT Composites for Shell Elements

Nano-sized defects in Glass fiber Reinforced Concrete (GRC) shell elements can cause damage over time, leading to mechanical and durability problems. Therefore, in this study an experimental program was conducted to investigate the application of single-walled carbon nanotube as a nano-additive material in GRC. Since there is no study on GRC-carbon nanotube (CNT) composites in the literature, the behavior of CNTs on conventional concretes was discussed. Five different GRC-SWCNT composite mixtures containing 0, 0.007, 0.010, 0.015 and 0.020 wt. % single walled carbon nanotube (SWCNT) were obtained. Calcined kaolin and acrylic polymer were used as pozzolanic and chemical modification materials in the mixtures, respectively. Workability, density, capillarity, pressure, flexural, tensile, impact, Leeb hardness and FE-SEM tests of the produced samples were carried out. According to the results obtained, the optimum SWCNT ratio in GRC mixtures was found to be 0.015 %. It was observed that there was a linear relationship between the mechanical results. FE-SEM images confirmed that SWCNTs act as bridges for micro-cracks and reinforce the microstructure.
Recent Developments in Some Long-Term Drought Drivers

The droughts that hit North and North Western Europe in 2018 and 2019 served as a wake-up call that temperate regions are also affected by these kinds of slow progressing or creeping disasters. Long-term drivers, such as land-use changes, may have exacerbated the impacts of these meteorological droughts. These changes, which are spread over a long time span, may even be difficult to perceive for an individual, but make a big difference in how these rare weather events impact a region. In this paper, we introduce three long-term drivers: forest fires in Europe, global urbanisation, and global deforestation. We attempt to provide a first assessment of their trends, mainly using statistics derived from satellite imagery published in recent literature. Due to the complexity of drought impacts, and the scarcity of quantitative impact data, the relationship between drought impact and these three processes for land use change is difficult to quantify; however, hence we present a survey of the recent trends in these land use change processes and the possible mechanics by which they affect drought impacts. Based on this survey we can conclude that the extent and the number of wildfires have increased markedly in Europe since 2010. Deforestation is still occurring in the tropics, with a loss of 12% in the last 30 years but has halted in the northern regions. Urbanisation has more than doubled in the same time span in the tropics and subtropics, mostly at the expense of forests, while in Europe urbanisation took place mainly in the northern part of the continent. We can conclude that none of these implicit drought drivers followed a favourable trend in the last 30 years. With consistent and worldwide monitoring, for example, by using satellite imagery, we can regularly inform the scientific community on the trends in these drought impact affecting processes, thus helping decision makers to understand how far we have progressed in making the world resilient to drought impacts.
Multiscale effects caused by the fracturing and fragmentation of rock blocks during rock mass movement: implications for rock avalanche propagation

Abstract. The fracturing and fragmentation of rock blocks are important phenomena that occur ubiquitously during the propagation of rock avalanches. Here, the movement of a rectangular rock block characterized by different joint sets along an upper sloped and lower horizontal plane is simulated using discrete element method (DEM) models. The pattern of the joint set allows the block to break along weak joint planes at the onset of fragmentation. With this design, the fracturing and fragmentation of the sliding rock block and their influences on the conversion and transmission of energy within the system are investigated. The results show that rock fragmentation can significantly alter the horizontal velocities and kinetic energies of fragments in the block system, accelerating the front sub-block while decelerating the rear sub-block. Such energy conversion and transmission between the front and rear sub-blocks are attributed to the accumulation and release of elastic strain energy caused by fragmentation. The energy transfer induced by fragmentation is more efficient than that induced by collision. Furthermore, positive relationships between the kinetic energy increase in the front sub-block induced by joint fracturing and the joint strength can be reliably fitted with linear functions, indicating that a rock mass with a higher joint strength experiences more-energetic fragmentation effects.
Low-Temperature Biodegradation of Lignin-Derived Aromatic Model Monomers by the Cold-Adapted Yeast Rhodosporidiobolus colostri Isolated from Alpine Forest Soil

The contribution of cold-adapted yeasts to the emerging field of lignin biovalorization has not yet been studied. The red-pigmented basidiomycetous yeast strain Rhodosporidiobolus colostri DBVPG 10655 was examined for its potential to degrade five selected lignin-derived aromatic monomers (syringic acid, p-coumaric acid, 4-hydroxybenzoic acid, ferulic acid, and vanillic acid). The strain utilized p-coumaric acid, 4-hydroxybenzoic acid, and ferulic acid not only as the sole carbon source; full biodegradation occurred also in mixtures of multiple monomers. Vanillic acid was not utilized as the sole carbon source, but was degraded in the presence of p-coumaric acid, 4-hydroxybenzoic acid, and ferulic acid. Syringic acid was utilized neither as the sole carbon source nor in mixtures of compounds. Biodegradation of lignin-derived aromatic monomers was detected over a broad temperature range (1–25 °C), which is of ecological significance and of biotechnological relevance.
Impact of Finite-Resolution Precoding and Limited Feedback on Rates of IRS Based mmWave Networks

Intelligent reflecting surfaces (IRSs) can enhance the system performance of millimeter wave (mmWave) networks. In practice, phase shifts at the base station and the IRSs are digitally controlled and have discrete values. The channel state information (CSI) feedback also has a limited rate. This work analyzes the spectral efficiency performance of an IRS based mmWave network in which the beamsteering codebooks are used for the passive precoding and analog precoding, and the zero-forcing precoder is used for digital precoding. To capture the features of mmWave channels and reflect the impact of passive and analog precoding, a channel correlation based codebook is employed to quantize the effective channels. Upper-bounds are derived for the spectral efficiency losses due to finite-resolution beamsteering codebooks and limited CSI feedback. It is found that the spectral efficiency loss due to finite-resolution beamsteering codebooks does not depend on the transmit power in large signal-to-noise ratio regimes, while the spectral efficiency loss due to limited CSI feedback increases with the transmit power. Then, the asymptotic performance is analyzed when the numbers of transmit antenna elements and reflecting elements go to infinity. Simulations verify the derivations and findings.
Ensemble Learning by High-Dimensional Acoustic Features for Emotion Recognition from Speech Audio Signal

In the recent past, handling the high dimensionality demonstrated in the auditory features of speech signals has been a primary focus for machine learning (ML-)based emotion recognition. The incorporation of high-dimensional characteristics in training datasets in the learning phase of ML models influences contemporary approaches to emotion prediction with significant false alerting. The curse of the excessive dimensionality of the training corpus is addressed in the majority of contemporary models. Modern models, on the other hand, place a greater emphasis on merging many classifiers, which can only increase emotion recognition accuracy even when the training corpus contains high-dimensional data points. “Ensemble Learning by High-Dimensional Acoustic Features (EL-HDAF)” is an innovative ensemble model that leverages the diversity assessment of feature values spanned over diversified classes to recommend the best features. Furthermore, the proposed technique employs a one-of-a-kind clustering process to limit the impact of high-dimensional feature values. The experimental inquiry evaluates and compares emotion forecasting using spoken audio data to current methods that use machine learning for emotion recognition. Fourfold cross-validation is used for performance analysis with the standard data corpus.
Research of IDS and Router Coupling Based on UPnP and Iptables

For the deficiency characteristics of the absence of agility and function simplicity based on static configuration security rules firewall and disunity of coupling standards of current extensive deployment security protection products,an effective coupling scheme of IDS and router is brought forward based on UPnP protocol and Iptables.The experiment has proved that the coupling scheme of IDS and router based on UPnP and Iptables is effective when UPnP protocol acts as universal communication language.
Water-Based Highly Stretchable PEDOT:PSS/Nonionic WPU Transparent Electrode

Poly(3,4-ethylenedioxythiophene):poly(styrenesulfonate) (PEDOT:PSS) has the merits of high electrical conductivity and solution processability, and can be dispersed in water. To improve the stretchability of PEDOT:PSS-based transparent electrode films, the intrinsically conducting polymer PEDOT:PSS was blended with highly stretchable nonionic waterborne polyurethane (WPU) and coated on a thermoplastic polyurethane (TPU) film. Nonionic WPU has good compatibility with PEDOT:PSS, without affecting the acidity. WPU undergoes hydrogen bonding and coulombic attractions with PEDOT:PSS. With variation of the WPU content, differences in the electrical properties, such as the sheet resistance and mechanical stretchability, of the coated thin films were observed. The film with 2.0 wt% WPU could be stretched to 400% of the electrode surface without damage to the surface of the electrode films. The WPU and TPU films both have a polyester group, which provides good adhesion between the WPU-based transparent electrodes and the TPU substrate films. A stretchable alternating current electroluminescence (ACEL) device was constructed by using the water-based PEDOT:PSS/nonionic WPU composite as both the bottom and top transparent electrodes. The fabricated ACEL remained its initial luminance in the 500% stretched state.
Design, Synthesis, and Anticancer Activity of a Selenium-Containing Galectin-3 and Galectin-9N Inhibitor

Galectins are soluble β-D-galactoside-binding proteins whose implication in cancer progression and disease outcome makes them prominent targets for therapeutic intervention. In this frame, the development of small inhibitors that block selectively the activity of galectins represents an important strategy for cancer therapy which is, however, still relatively underdeveloped. To this end, we designed here a rationally and efficiently novel diglycosylated compound, characterized by a selenoglycoside bond and the presence of a lipophilic benzyl group at both saccharide residues. The relatively high binding affinity of the new compound to the carbohydrate recognition domain of two galectins, galectin 3 and galectin 9, its good antiproliferative and anti-migration activity towards melanoma cells, as well as its anti-angiogenesis properties, pave the way for its further development as an anticancer agent.