Miracle-dz/UniFAR-FTUs huggingface dataset:
Learning Suction Graspability Considering Grasp Quality and Robot Reachability for Bin-Picking

Deep learning has been widely used for inferring robust grasps. Although human-labeled RGB-D datasets were initially used to learn grasp configurations, preparation of this kind of large dataset is expensive. To address this problem, images were generated by a physical simulator, and a physically inspired model (e.g., a contact model between a suction vacuum cup and object) was used as a grasp quality evaluation metric to annotate the synthesized images. However, this kind of contact model is complicated and requires parameter identification by experiments to ensure real world performance. In addition, previous studies have not considered manipulator reachability such as when a grasp configuration with high grasp quality is unable to reach the target due to collisions or the physical limitations of the robot. In this study, we propose an intuitive geometric analytic-based grasp quality evaluation metric. We further incorporate a reachability evaluation metric. We annotate the pixel-wise grasp quality and reachability by the proposed evaluation metric on synthesized images in a simulator to train an auto-encoder–decoder called suction graspability U-Net++ (SG-U-Net++). Experiment results show that our intuitive grasp quality evaluation metric is competitive with a physically-inspired metric. Learning the reachability helps to reduce motion planning computation time by removing obviously unreachable candidates. The system achieves an overall picking speed of 560 PPH (pieces per hour).
Proses Pengujian Tidak Merusak

Pengujian tidak merusak merupakan bagian dari pengujian bahan, berlainan dengan pengujian merusak, maka pengujian tidak merusak atau Non Destructive Examination(NDE) tidak merusak bahan. Pengujian tidak merusak ini terdiri dari : Pengujian Visual, Pengujian dengan Penetrant, Magnetic Particle Testing, radiographic Testing, Ultrasonic Trsting, Eddy Current Testing, Accoustic Emission Testing, Leak Test, Proof test, Magnetic Test for Delta ferrite
On Componental Operators in Hilbert Space

Abstract We consider a Hilbert space that is a product of a finite number of Hilbert spaces and operators that are represented by “componental operators” acting on the Hilbert spaces that form the product space. We attribute operatorial properties to the componental operators rather than to the full operators. The operatorial properties that we discuss include nonexpansivity, firm nonexpansivity, relaxed firm nonexpansivity, averagedness, being a cutter, quasi-nonexpansivity, strong quasi-nonexpansivity, strict quasi-nonexpansivity and contraction. Some relationships between operators whose componental operators have such properties and operators that have these properties on the product space are studied. This enables also to define componental fixed point sets and to study their properties. For componental contractions we offer a variant of the Banach fixed point theorem. Our motivation comes from the desire to extend a fully-simultaneous method that takes into account sparsity of the linear system in order to accelerate convergence. This was originally applicable to the linear case only and gives rise to an iterative process that uses different componental operators during iterations.
Communication-Efficient Separable Neural Network for Distributed Inference on Edge Devices

The inference of Neural Networks is usually restricted by the resources (e.g., computing power, memory, bandwidth) on edge devices. In addition to improving the hardware design and deploying efficient models, it is possible to aggregate the computing power of many devices to enable the machine learning models. In this paper, we proposed a novel method of exploiting model parallelism to separate a neural network for distributed inferences. To achieve a better balance between communication latency, computation latency, and performance, we adopt neural architecture search (NAS) to search for the best transmission policy and reduce the amount of communication. The best model we found decreases by 86.6% of the amount of data transmission compared to the baseline and does not impact performance much. Under proper specifications of devices and configurations of models, our experiments show that the inference of large neural networks on edge clusters can be distributed and accelerated, which provides a new solution for the deployment of intelligent applications in the internet of things (IoT).
Real‐time identification of time‐varying tension in stay cables by monitoring cable transversal acceleration

Stay cables are critical components in bridges. However, stay cables suffer from severe fatigue damage. Therefore, a monitoring technique to obtain the time history of the tension in stay cables is important. Because the acceleration of stay cables is readily measurable, approaches to identify cable tension based on frequency analysis and monitored cable acceleration have been widely investigated and used in practice. However, this type of approach can only identify a time‐invariant tension of a stay cable over a specified duration, not the time‐varying tension. This paper proposes an approach to identify the time‐varying tension of stay cables by monitoring cable accelerations. The tension variation in stay cables is caused by vehicles passing over the bridge. The real‐time identification algorithm that determines the time‐varying tension of stay cables is proposed using an extended Kalman filter based on both the transversal monitored acceleration at a single location on the cable and the monitored wind speed on the bridge, where the time‐varying tension is a state variable that is identified. A stay cable from the Nanjing Yangtze River No. 3 Bridge was used for the numerical study. The time‐varying tension of the stay cable can be identified when either a single vehicle or multiple vehicles pass over the bridge. The robustness of the proposed approach is also investigated through deviations in the initial tension, initial displacement, and velocity of the stay cable. An experiment was conducted on a scaled stay cable with time‐varying tension excited by wind. The time‐varying cable tension of the cable was identified by the proposed approach and compared with the real time‐varying cable tension. The identification accuracy and robustness of the proposed approach is verified through the experiment and numerical study. Copyright © 2013 John Wiley & Sons, Ltd.
Homogenization of Griffith's Criterion for brittle Laminates

We consider a periodic, linear elastic laminate with a brittle crack, evolving along a prescribed path according to Griffith’s criterion. We study the homogenized limit of this evolution, as the size of the layers vanishes. The limit evolution is governed again by Griffith’s criterion, in terms of the energy release (of the homogenized elastic energy) and an effective toughness, which in general differs from the weak∗ limit of the periodic toughness. We provide a variational characterization of the effective toughness and, by the energy identity, we link the toughening effect (in the limit) to the micro-instabilities of the evolution (in the periodic laminate). Finally, we provide a couple of explicit calculations of the effective toughness in the anti-plane setting, showing in particular an example of toughening by elastic contrast.
Interplay of interactions and disorder at the charge density wave transition of two-dimensional Dirac semimetals

We consider the effects of weak quenched fermionic disorder on the quantum-phase transition between the Dirac semimetal and charge density wave (CDW) insulator in two spatial dimensions. The symmetry breaking transition is described by the Gross-Neveu-Yukawa (GNY) theory of Dirac fermions coupled to an Ising order parameter field. Treating the disorder using the replica method, we consider chemical potential, vector potential (gauge), and random mass disorders, which all arise from non-magnetic charge impurities. We self-consistently account for the Landau damping of long-wavelength order-parameter fluctuations by using the non-perturbative RPA re-summation of fermion loops, and compute the renormalization-group (RG) flow to leading order in the disorder strength and $1/N$ ($N$ the number of Dirac fermion flavors). We find two fixed points, the clean GNY critical point which is stable against weak disorder, and a dirty GNY multi-critical point, at which the chemical potential disorder is finite and the other forms of disorder are irrelevant. We investigate the scaling of physical observables at this finite-disorder multi-critical point which breaks Lorentz invariance and gives rise to distinct non-Fermi liquid behavior.
CD40L-specific Tn3 derived from scaffolds and methods of use thereof

The present invention provides a tenascin -3FnIII domain-based scaffolds that specifically binds to CD40L. The present invention further provides a genetically engineered variants have increased affinity for the target. The present invention also provides, in particular for therapeutic use for SLE and other autoimmune diseases and conditions, prevention, diagnosis, or to genetically engineered scaffolds as a therapeutic agent. BACKGROUND
Evolutionary decomposition of complex design spaces

This dissertation investigates the support of conceptual engineering design through the decomposition of multi-dimensional search spaces into regions of high performance. Such decomposition helps the designer identify optimal design directions by the elimination of infeasible or undesirable regions within the search space. Moreover, high levels of interaction between the designer and the model increases overall domain knowledge and significantly reduces uncertainty relating to the design task at hand. The aim of the research is to develop the archetypal Cluster Oriented Genetic Algorithm (COGA) which achieves search space decomposition by using variable mutation (vmCOGA) to promote diverse search and an Adaptive Filter (AF) to extract solutions of high performance [Parmee 1996a, 1996b]. Since COGAs are primarily used to decompose design domains of unknown nature within a real-time environment, the elimination of apriori knowledge, speed and robustness are paramount. Furthermore COGA should promote the in-depth exploration of the entire search space, sampling all optima and the surrounding areas. Finally any proposed system should allow for trouble free integration within a Graphical User Interface environment. The replacement of the variable mutation strategy with a number of algorithms which increase search space sampling are investigated. Utility is then increased by incorporating a control mechanism that maintains optimal performance by adapting each algorithm throughout search by means of a feedback measure based upon population convergence. Robustness is greatly improved by modifying the Adaptive Filter through the introduction of a process that ensures more accurate modelling of the evolving population. The performance of each prospective algorithm is assessed upon a suite of twodimensional test functions using a set of novel performance metrics. A six dimensional test function is also developed where the areas of high performance are explicitly known, thus allowing for evaluation under conditions of increased dimensionality. Further complexity is introduced by two real world models described by both continuous and discrete parameters. These relate to the design of conceptual airframes and cooling hole geometries within a gas turbine. Results are promising and indicate significant improvement over the vmCOGA in terms of all desired criteria. This further supports the utilisation of COGA as a decision support tool during the conceptual phase of design. I. I This ihesls# dedicate& to three:remarkable women: myNan :Nellie May:Hubball and 'her immortal'words, "Good,. better, be si"; Tarnya ,whoprov'ided the ·insp'iraiion and sacrificed1more than anyone. else and my mother, who:over,recentyear:s:has,sliown me "'haUtue:cout:ll8f! i.S. ChristopherR. Bonham Plymouth, England2006
Thinking Like an Engineer: Studies in the Ethics of a Profession

Michael Davis, a leading figure in the study of professional ethics, offers here both a compelling exploration of engineering ethics and a philosophical analysis of engineering as a profession. After putting engineering in historical perspective, Davis turns to the Challenger space shuttle disaster to consider the complex relationship between engineering ideals and contemporary engineering practice. Here, Davis examines how social organization and technical requirements define how engineers should (and presumably do) think. Later chapters test his analysis of engineering judgement and autonomy empirically, engaging a range of social science research including a study of how engineers and managers work together in ten different companies.
Attitudes of the Turkish University Students and Staff Toward Sexual Harassment and Assault: Preliminary Psychometric Evaluation

The aim of this study was to develop a scale to measure the attitudes of the university academic and administrative staff and students toward sexual harassment and assault, and examine its psychometric properties. After the development of the item pool and examination of the content validity of the intended items, Exploratory Factor Analysis (EFA) and parallel analysis was conducted and Cronbach’s alpha reliability coefficient was calculated collecting data from 150 participants (54.7% of female and 45.3% of male) for the initial version (comprised of 12 items) of the Attitudes Toward Sexual Harassment and Assault Scale (ATSHAS). In the second phase, Confirmatory Factor Analysis (CFA) was conducted with 354 participants (54% of female and 46% of male) for the revised version (10 items) of the ATSHAS. Additionally, Cronbach’s alpha reliability coefficient was calculated with second sample. After developing the item pool, the completion of the first phase of the study took 5 months, and the second phase took 4 months. The final version of the ATSHAS consisting of nine items demonstrated sufficient psychometric properties for measuring attitudes toward sexual harassment and assault in the university environment.
Automatic gain equalization in wavelength-division multiplexed communication systems by using folded nonlinear-optical loop mirrors

Nonlinear-optical loop mirrors (NOLMs) have historically been used primarily in applications utilizing pulsed signals, for which large peak powers are attainable, allowing for a useful nonlinear response with a relatively short fiber. However, NOLMs have not been intensively studied in applications using constant-intensity (CI) signals. When CI sources are used, the length of fiber needed to obtain modest nonlinear phase shifts can become very large. To reduce the NOLM’s susceptibility to acoustic perturbations, we have folded the nonlinear loop, allowing the signals to pass through twice (once in each direction). When CI signals are used with this double-pass configuration, additional nonlinear interactions must be accounted for that, to the best of our knowledge, have never been studied. In the research presented in this dissertation, we have studied the folded NOLM in an effort to improve its stability. The resulting improved understanding of the nonlinear effects occurring within the folded loop will have consequences for any folded-NOLM application using signals with peak and average powers of similar magnitude. To serve as a focus for our work, we chose to explore the notion of using folded NOLMs for gain equalization in optically amplified wavelengthdivision multiplexed (WDM) communication systems utilizing CI modulation schemes. Using this application as our motivation for developing a folded NOLM, we have observed two nonlinear effects for the first time: (1) Electrostriction-induced guided acoustic-wave Brillouin scattering (GAWBS); and (2) a phase-matched, degenerate four-wave mixing process that undermines the desired nonlinear action of the folded NOLM. Furthermore, we developed a model of the thirdorder nonlinear interactions in a folded NOLM that predicts the effects of (2). Using insight provided by this model, we were able to devise and demonstrate a folded NOLM that does not suffer from this effect by adding a phase modulator to one arm, thereby breaking the phasematching condition in the folded loop. After making the aforementioned modification, we were able to demonstrate a folded NOLM that provides a power-dependent transfer function that selectively attenuates WDM channels when they become too strong, thereby providing automatic gain equalization. The proposed system does not require any feedback and can automatically adjust for system changes.
Preference of University Student Towards Cycling in Campus

Students have the potential for cycling, doing activities in and around campus. Nonetheless, bicycling is facing challenges that may reduce its attractiveness as compared to motorized modes. Weather, aggressive car driver, lack of cycling infrastructure, culture and social norm are some of the typical constraints that would discourage cycling in campus. All of these constraints should be considered in order to encourage students in university campus to cycle. However, a lot of factors can encourage students to cycling, such as the limitation of bus route, travel time, cost and individual physical condition. This paper presents the results and analysis on cycling preference as a possible transport mode in campus with the University of Malaya in Kuala Lumpur, Malaysia as a case study.
Advanced Technology Component Derating

Abstract : This report has been prepared to summarize the technical study performed to determine the derating criteria of advanced technology components. The study covered existing criteria from AFSC Pamphlet 800-27 and the development of new criteria based on data, literature searches and the use of advanced technology prediction methods developed in RADC-TR-90-72. The devices that were investigated were: VHSIC, ASIC, MIMIC, Microprocessor, PROM, Power Transistors, RF Pulse Transistors, RF Multi-Transistor Packages, Photo Diodes, Photo Transistors, Opto-Electronic Couplers, Injection Laser Diodes, LED, Hybrid Deposited Film Resistors, Chip Resistors and Capacitors and SAW devices. The results of the study are additional derating criteria that extend the range of AFSC Pamphlet 800-27. These data will be transitioned from the report to AFSC pamphlet 800-27 for use by government and contractor personnel in derating electronics systems yielding increased safety margins and improved system reliability. Reliability, VHSIC, Galium Arsenide (GaAs), Failure Rate, Derating.
Dynamic parameter estimation based on spectral analysis and its application in mechanic-electric systems

A dynamic parameter estimation method with a two step algorithm has been developed based on spectral analysis. The spectral density function is first obtained from input-output signals of a system, then the dynamic parameters can be estimated from frequency response data. Some parameter estimation algorithms are derived by minimizing a unified loss function with different weight selections. Some excellent application results have been achieved in the measurement, simulation, compensation and control of sensors, actuators and precision machineries. <<ETX>>
HOW MUCH DO YOU BLAME A ROBOT THAT HARMS SOMEONE? On the relationship between human-like appearance of artiﬁcial agents and the degree to which they are perceived as an intentional agent and hence morally judged

As humans, we make moral judgments based on our interpretation of the mindstate of the agent we are judging. For example, we tend to blame someone more if we believe a harmful act was intentional as opposed to accidental. Before being able to do this, it is essential to perceive agents as intentional beings. This means we need to perceive an agent as having (some sort of) a mind. The physical characteristics of a robot can activate mechanisms in our brain in ways similar to what happens when we face social interaction partners. This study addresses the question whether physically more human-like robots are more likely to be perceived as intentional beings, and thus be judged more like we would judge a human.The study results from two experiments show some evidence that participants blame robots relatively more for a harmful act when they shows more human-like features. The ﬁndings of the study are discussed in the light of existing literature and recommendations are made for future research.
Automating CapCom: Pragmatic Operations and Technology Research for Human Exploration of Mars

During the Apollo program, NASA and the scientific community used terrestrial analog sites for understanding planetary features and for training astronauts to be scientists. More recently, computer scientists and human factors specialists have followed geologists and biologists into the field, learning how science is actually done on expeditions in extreme environments. Research stations have been constructed by the Mars Society in the Arctic and American southwest, providing facilities for hundreds of researchers to investigate how small crews might live and work on Mars. Combining these interests-science, operations, and technology-in Mars analog field expeditions provides tremendous synergy and authenticity to speculations about Mars missions. By relating historical analyses of Apollo and field science, engineers are creating experimental prototypes that provide significant new capabilities, such as a computer system that automates some of the functions of Apollo’s CapCom. Thus, analog studies have created a community of practice-a new collaboration between scientists and engineers-so that technology begins with real human needs and works incrementally towards the challenges of the human exploration of Mars.
Political Awareness and Media’s Consumption Patterns among Students-A Case Study of University of Gujrat, Pakistan

This research examines the role of different media outlets in creating political awareness among students. This study shows that students of University of Gujrat consume mass media for both entertainment and political information. However, Television considered the best source of political information. Through this study agenda and framing theory used which revealed that media has an effect on its target audience. While, survey method has used to gauge the media consumption among university students. Mass media is considered a source of information that has the power to change choice of people. Media present issues to its audience with an effect that public forms opinion according to media’s emphasis on issue. Keywords: Mass Media, Consumption Pattern, Political Awareness, Media Agenda, Media Framing