Miracle-dz/UniFAR-FTUs huggingface dataset:
Stable, high-force, low-impedance robotic actuators for human-interactive machines

Robots that engage in significant physical interaction with humans, such as robotic physical therapy aids, must exhibit desired mechanical endpoint impedance while simultaneously producing large forces. In most practical robot configurations, this requires actuators with high force-to-weight ratios and low intrinsic impedance. This thesis explores several approaches to improve the tradeoff between actuator force capacity, weight, and ability to produce desired impedance. Existing actuators that render impedance accurately generally have poor force densities while those with high force densities often have high intrinsic impedance. Aggressive force feedback can reduce apparent endpoint impedance, but compromises coupled stability. The common standard for ensuring coupled stability, passivity, can limit performance severely. An alternative measure of coupled stability is proposed that uses limited knowledge of environment dynamics (e.g. a human limb) and applies robust stability tools to port functions. Because of structural differences between interaction control and servo control, classical single-input, single-output control tools cannot be directly applied for design. Instead, a search method is used to select controller parameters for an assumed structure. Simulations and experiments show that this new approach can be used to design a force-feedback controller for a robot actuator that improves performance, reduces conservatism, and maintains coupled stability. Adding dynamics in series to change an actuator's physical behavior can also improve performance. The design tools developed for controller design are adapted to select parameters for physical series dynamics and the control system simultaneously. This design procedure is applied to both spring-damper and inertial series dynamics. Results show that both structures can be advantageous, and that the systematic design of hardware and control together can improve performance dramatically over prior work. A remote transmission design is proposed to reduce actuator weight directly. This design uses a stationary direct-drive electromagnetic actuator and a passive, flexible hydraulic transmission with low intrinsic impedance, thereby utilizing the impedance-
Critical Success Factors of Component-Based Software Outsourcing Development From Vendors’ Perspective: A Systematic Literature Review

Component-Based Software Development (CBSD) is a very demanding approach for developing complex products or systems. In CBSD, software or product is creating from reusable pieces of components. With the help of CBSD, a complex system or software is developed with high quality, security, and within limited time and cost. However, this research will convince the outsourcing vendor organization to adopt the component software development using the CBSD approaches. A Systematic Literature Review (SLR) is used to extract all the possible success factors regarding CBSD that have positively impact software outsourcing vendor organization. The identified success factors comprise ‘Well Trained and Skilled Team’; ’ Proper Selection of Components’; ’ Using Standard for Designing’; ’ Well defined Architecture’; ’ Proper Testing and Analysis; ’ Efficient Integration’; ’ Quality Assurance’; ’ Proper Documentation’; ’well-organized security’; ’ Trusted and Certified. ’ This research paper is also identifying the differences and similarities of success factors in various continents. This research paper is also convincing the software outsourcing vendor organization to adopt the concept of CBSD. The proposed method has analyzed the identified challenges continent-wise using the Chi-Square test to determine the significant difference.
Stability of Digital Controls of Flexible/Vibratory Aerospace/Automobile Systems by the Graph Norm

In this work we study the stability of digital controls of flexible/Vibratory aerospace/automobile systems by the graph norm technique, occurring in sampled-data control systems due to sampling period variations. To do so, this work tries to establish regions (graphs) of stability and instability in a Banach Space, the distances (norms) between them and a given design to detect analytically and/or numerically its margins of stability or conditions of instability. Based on that, we sketch the first steps for a design methodology of stable digital controllers of flexible/vibratory systems embedded in a sampled-data system with adjustable sampling periods of A/D and D/A converters. A short tutorial about the graph norm technique is also given and some theoretical results as well numerical results are shown. This work was done in two folds to unmask the stability secrets hidden in a general sampled-data control system, until today not revelated. The first part we have used the graph norm and at the second part we made use of the Liapunov stability theory. PART I: TRIALS THROUGH THE NORM GRAPH TO OBTAIN SOME INFORMATION ABOUT STABILITY REGIONS FOR SAMPLED CONTROL SYSTEMS AS FUNCTION OF THE SAMPLING PERIOD As explained in [1], the true discrete could be given by ∑ ∞ −∞ = ≠       π − ω = − − + =
Comparative Study between Classical Methods (CM) and Machine Learning Algorithms (MLA) for Time Series Forecasting

: Accurately demand forecasting is vital for effective supply chain planning activities and all related applications. The demand patterns which generated to forecast including horizontal pattern which happens when the data values vary horizontally around a constant mean. For example, a product whose sales are stable and do not increase or reduce such as dairy milk. Seasonal pattern occurs if a series depending on seasonal factors (e.g., the quarter of the year, the month, or the day of the week such as flu vaccine, soft drinks and ice creams. A trend pattern When data shows a long-term growth or decline. An example of a trend pattern in many firms' sales, businesses, such as electrical vehicles and cell phones. However, all forecasting models have distinct advantages and limitations where the generally accepted principle that no individual forecasting model is the best for all situations under all circumstances. Selecting appropriate forecasting methods from numerous alternatives is crucial to success. In this work, we conduct a comparative study between classical and machine learning forecasting algorithms via a statistical programming language R, which is used to generate time series data. The generated data has a mean of 2000 units and standard deviation ranges from 10 to 50, and has a different factor that influence the forecasting ability of classical methods and machine learning algorithms in how to utilize their capacity and extract information effectively. As the amount of historical data available, the type of data pattern, increasing or decreasing trend or seasonal factor, and the variation amount or randomness available in the data. The performance was measured using (MAPE) as the accuracy measurement of demand forecasting.
HyBra1, a Brachyury homologue in Hydra

There is a great deal of evidence that many of the genes regulating developmental processes are common among vertebrates and arthropods. Evidence is also beginning to accumulate that these same genes arose early in metazoan evolution as they occur in the Cnidaria, the first animals with a distinct body plan. For example, members of several families of transcription factors have been characterized. These include Hox genes (Schummer et al., 1992; Shenk et al., 1993a), other homeobox genes (Schummer et al., 1992; Grens et al., 1996; Gauchat et al., 1998; Mokady et al., 1998), bHLH genes (Grens et al., 1995) and winged helix genes (Martinez et al., 1997). In addition, homologues of genes in the Wnt cascade (Hobmayer et al., 1996) as well as a number of RTK genes (Steele et al., 1996; Stover and Steele, 1998) have been isolated and characterized. Some of these genes have functions similar to their homologues in more complex animals indicating an evolutionary conservation of function throughout the metazoa. For example, the Hox genes isolated from hydra appear to have a role in anterior-posterior patterning, while the emx homologue in hydractinia (Mokady et al., 1998) and the HNF3β homologue in hydra (Martinez et al., 1997) have roles in the patterning of the head. In addition, Cnash, a hydra homologue of the achaete-scute class of bHLH genes, which has a role in specifying the cell fate of a class of cells as do these proneural genes in vertebrates and Drosophila(Grens et al., 1995). However, there are also a number of these regulatory genes hat are highly conserved on the sequence level among metazoans, but in which the function has not been obviously conserved. In some cases, the gene may have been co-opted for different functions throughout evolution. In others, the complexity of the organism and the multiple roles of the gene might obscure functions that are common. Because the cnidaria have a much simpler body plan with fewer components, a given regulatory gene most likely has fewer, and plausibly only a single, function. Hence, an examination of such genes in a cnidarian could provide clues as to the common aspects of their function among the animals where they occur. One class of genes that play important roles in a number of developmental events in several species are the T-box genes. These genes are characterized by a highly conserved DNAbinding domain, the T-box (Kispert and Herrmann, 1993; Kispert et al., 1995; for reviews see Kispert, 1995; Smith, 1997; Papaioannou and Silver, 1998). The founding member, Brachyury,has been shown to play a critical role in mesoderm formation in vertebrates (for review see Smith, 1997). Homologues of this gene, and other T-box genes, have been cloned in organisms ranging from C. elegans to humans 999 Development 126, 999-1010 (1999) Printed in Great Britain © The Company of Biologists Limited 1999 DEV5270
Super-Resolution Photoacoustic Microscopy via Modified Phase Compounding

Acoustic-resolution photoacoustic micro- scopy (AR-PAM) system can provide 3-D images of facial tissues. The lateral resolution of AR-PAM depends on the numerical aperture (NA) of the acoustic lens and the central frequency of the ultrasonic transducer. There is a trade-off between resolution enhancement and imaging depth. The acoustic beam is tight in the acoustic focal plane but expands in the out-of-focus regions, deteriorating the resolution. High-NA AR-PAM has depth-variant resolution. Synthetic aperture focusing technique (SAFT) based on a virtual detector (VD) concept can compensate for the beam shape and improve the lateral resolution via beamforming. Although, beamforming can enhance the resolution but the lateral resolution in the focal plane is still limited by acoustic diffraction. Structured-illumination can shift the spatial spectrum of an image to low frequencies hence high-frequency contents can be reserved to overcome the diffraction limit. Conventional structured-illumination via using a three-phase-shifting method can improve the resolution by two folds. Here, a modified phase-shifting method is used to generate the second harmonic of the fringes and double the spectral shift. In this idea, higher frequency information compared to the three-phase shifting method can fall into the band-limited system response. The modified phase-shifting method expands the spatial bandwidth and increases the lateral resolution by five folds. The mathematical relations and the theory are discussed in the context. Tungsten filament result shows resolution improvement from 44.6 $\mu \text{m}$ to 11.3 $\mu \text{m}$ by the modified structured illumination. In vivo and ex vivo experimental results validate the system performance.
Preclinical multi-target strategies for myocardial ischemia-reperfusion injury

Despite promising breakthroughs in diagnosing and treating acute coronary syndromes, cardiovascular disease’s high global mortality rate remains indisputable. Nearly half of these patients died of ischemic heart disease. Primary percutaneous coronary intervention (PCI) and coronary artery bypass grafting can rapidly restore interrupted blood flow and become the most effective method for salvaging viable myocardium. However, restoring blood flow could increase the risk of other complications and myocardial cell death attributed to myocardial ischemia-reperfusion injury (IRI). How to reduce the damage of blood reperfusion to ischemic myocardium has become an urgent problem to be solved. In preclinical experiments, many treatments have substantial cardioprotective effects against myocardial IRI. However, the transition from these cardioprotective therapies to clinically beneficial therapies for patients with acute myocardial infarction remains elusive. The reasons for the failure of the clinical translation may be multi-faceted, and three points are summarized here: (1) Our understanding of the complex pathophysiological mechanisms of myocardial IRI is far from enough, and the classification of specific therapeutic targets is not rigorous, and not clear enough; (2) Most of the clinical patients have comorbidities, and single cardioprotective strategies including ischemia regulation strategies cannot exert their due cardioprotective effects under conditions of hyperglycemia, hypertension, hyperlipidemia, and aging; (3) Most preclinical experimental results are based on adult, healthy animal models. However, most clinical patients had comorbidities and received multiple drug treatments before reperfusion therapy. In 2019, COST Action proposed a multi-target drug combination initiative for prospective myocardial IRI; the optimal cardioprotective strategy may be a combination of additive or synergistic multi-target therapy, which we support. By establishing more reasonable preclinical models, screening multi-target drug combinations more in line with clinical practice will benefit the translation of clinical treatment strategies.
Frontiers of space and ground-based astronomy : the astrophysics of the 21st century

Editorial. Part 1: I. Achievements of the Present Generation of Space Observatories. II. Achievements of the Present Generation of Ground--Based Telescopes. III. Stars. IV. Interstellar Medium and Galaxies. V. Cosmology. VI. Observations at Many Wavelengths: Panel Discussion on Coordination of Observations at Many Wavelengths. VII. The New Generation of Large Ground--Based Telescopes. VIII. The New Generation Space Telescopes. IX. New Technologies for Astronomy. X. Summary, Priorities and Objectives for the 21st Century. Part 2: XI. Stars. XII. Interstellar Medium and Galaxies. XIII. New Technologies for Astronomy. Index.
A flexible‐hazards cure model with application to patients with soft tissue sarcoma

In medical research, it is often of great interest to have an accurate estimation of cure rates by different treatment options and for different patient groups. If the follow‐up time is sufficiently long and the sample size is large, the proportion of cured patients will make the Kaplan‐Meier estimator of survival function have a flat plateau at its tail, whose value indicates the overall cure rate. However, it may be difficult to estimate and compare the cure rates for all the subsets of interest in this way, due to the limit of sample sizes and curse of dimensionality. In the current literature, most regression models for estimating cure rates assume proportional hazards (PH) between different subgroups. It turns out that the estimation of cure rates for subgroups is highly sensitive to this assumption, so more flexible models are needed, especially when this PH assumption is clearly violated. We propose a new cure model to simultaneously incorporate both PH and non‐PH scenarios for different covariates. We develop a stable and easily implementable iterative procedure for parameter estimation through maximization of the nonparametric likelihood function. The covariance matrix is estimated by adding perturbation weights to the estimation procedure. In simulation studies, the proposed method provides unbiased estimation for the regression coefficients, survival curves, and cure rates given covariates, while existing models are biased. Our model is applied to a study of stage III soft tissue sarcoma and provides trustworthy estimation of cure rates for different treatment and demographic groups.
Infestation of Some Malus Cultivars by the North Carolina Woolly Apple Aphid Biotype1

Seventeen Malus cultivars and 6 lines of open-pollinated seedlings were screened for susceptibility to attack by the woolly apple aphid (Erisoma lanigerum Hausmann) (WAA) indigenous to western North Carolina. Most cultivars with ‘Northern Spy’-derived resistance were susceptible to infestation by this WAA biotype, distinguishing it from WAA reported in other parts of the United States. Some cultivar resistance followed the pattern reported in New York, including high resistnce in Mailing Merton (MM) 106, MM 107, and MM 112. Robusta 5 [M. X robusta (Carr.) Rehd. ] was not infested by either the North Carolina or the New York WAA biotypes.
ELM pace making and mitigation by pellet injection in ASDEX Upgrade

In ASDEX Upgrade, experimental efforts aim to establish pace making and mitigation of type-I edge localized modes (ELMs) in high confinement mode (H-mode) discharges. Injection of small size cryogenic deuterium pellets (~(1.4? mm)2 ? 0.2? mm ? 2.5 ? 1019? D) at rates up to 83? Hz imposed persisting ELM control without significant fuelling, enabling for investigations well inside the type-I ELM regime. The approach turned out to meet all required operational features. ELM pace making was realized with the driving frequency ranging from 1 to 2.8 times the intrinsic ELM frequency, the upper boundary set by hardware limits. ELM frequency enhancement by pellet pace making causes much less confinement reduction than by engineering means like heating, gas bleeding or plasma shaping. Confinement reduction is observed in contrast to the typical for engineering parameters. Matched discharges showed triggered ELMs ameliorated with respect to intrinsic counterparts while their frequency was increased. No significant differences were found in the ELM dynamics with the available spatial and temporal resolution. By breaking the close correlation of ELM frequency and plasma parameters, pace making allows the establishment of fELM as a free parameter giving enhanced operational headroom for tailoring H-mode scenarios with acceptable ELMs. Use was made of the pellet pace making tool in several successful applications in different scenarios. It seems that further reduction of the pellet mass could be possible, eventually resulting in less confinement reduction as well.
Producing Speech: Contemporary Issues, for Katherine Safford Harris

Contents: I. Descriptive Phonetics: Respiration. II. Descriptive Phonetics: Phonation. III. Descriptive Phonetics: Articulation. IV. Descriptive Phonetics: Suprasegmentals. V. Neurological Mechanisms in Speech. VI. Speech Organization and Coordination. VII. Speech Articulation and Language.
Kepler observations: Light shed on the hybrid γ Doradus - δ Scuti pulsation phenomenon

Through the observational study of stellar pulsations, the internal structure of stars can be probed and theoretical models can be tested. The main sequence -γ Doradus (Dor) and δ Scuti (Sct) stars with masses 1.2–2.5 M⊙ are particularly interesting for asteroseismic study. The -γ Dor stars pulsate in high-order gravity (g) modes, with pulsational periods of order of one day. The δ Sct stars, on the other hand, show low-order g and pressure (p) modes with periods of order of 2 hours. Theory predicts the existence of ‘hybrid’ stars, i.e. stars pulsating in both types of modes, in an overlap region between the instability strips of -γ Dor and δ Sct stars in the Hertzsprung-Russell diagram. Hybrid stars are particularly interesting as the two types of modes probe different regions of the stellar interior and hence provide complementary model constraints. Before the advent of Kepler, only a few hybrid stars had been confirmed. The Kepler satellite is providing a true revolution in the study of and search for hybrid stars. Analysis of the first 50 days of Kepler data of hundreds of -γ Dor and δ Sct candidates reveals extremely rich frequency spectra, with most stars showing frequencies in both the δ Sct and -γ Dor frequency range. As these results show that there are practically no pure δ Sct or -γ Dor pulsators, a new observational classification scheme is proposed by Grigahcene et al. (2010). We present their results and characterize 234 stars in terms of δ Sct, -γ Dor, δ Sct/-γ Dor or -γ Dor/δ Sct hybrids (© 2010 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)
A Comparative Analysis of Sensor-, Geometry-, and Neural-Based Methods for Food Volume Estimation

With the rapid advancements in artificial intelligence and computer vision within health and nutrition fields, image-based automatic dietary assessment is gaining popularity. This automation involves food segmentation, recognition, volume estimation, and estimation of nutritional content. While considerable progress has been made in food segmentation and recognition, accurate volume estimation remains challenging. Measuring food volume is crucial in many fields, even thought this is difficult to automate precisely. This is hampering progress, and is leading to continued reliance on time-consuming traditional methods, such as manual computation of food volume through water displacement. The manuscript presents a comparative analysis of sensor-, geometry-, and neural-based methods for computing food volume. We have performed multiple experiments using 20 meal images captured under different settings, with reliable measurements of ground-truth volume obtained by capturing 360-degree views of the food items and computing their volumes in a 3D space. An extensive analysis of our results then serves to identify the strengths and limitations of each approach, and offers valuable insights for selecting the most suitable method in specific settings. Moreover, we have made the collected data (including RGB images, ground-truth point clouds, volumes, etc.) open-source. We intend this as a contribution to the research community and to address the scarcity of food datasets with depth-related information.