Miracle-dz/UniFAR-FTUs huggingface dataset:
Control of underactuated manipulators using nonlinear /spl Hscr//sub /spl infin// techniques

In this paper, two nonlinear H/sub /spl infin// control techniques are used to control a underactuated manipulator. The dynamic coupling between the links is used to control all manipulator's free joints. The first technique consists in representing the nonlinear system in a quasi-linear parameter varying form and in solving a set of linear matrix inequalities (LMI) generated from the gridding of the state space range. To the second technique, an explicit solution of the /spl Hscr//sub /spl infin// control of robot manipulators is found using an appropriate state transformation and the game theory. Experimental results obtained from the underactuated manipulator (UArm II) using the two methodologies are presented.
Two‐dimensional Photometric Decomposition of the TeV BL Lacertae Objects Markarian 421, Markarian 501, and 1ES 2344+514

We have obtained high‐resolution R‐band images of three BL Lacertae objects, Mrk 421, Mrk 501, and 1ES 2344+514, that have been detected at high‐energy (TeV) γ‐rays. Because of their TeV emission, these three objects have been targets of intensive optical monitoring during the last few years. We have studied the morphology of host galaxies by fitting ellipses and two‐dimensional galaxy+core models to the observed surface brightness distribution. We find the host galaxies to be large (effective radii 7–40 kpc) and bright(MR = - 23.2 to −24.6) elliptical galaxies, whose surface brightness distribution can be described by a single power law I(r)∝r- β with β = 0.10–0.36 to an accuracy of ∼0.2 mag. The isophotes of the host galaxies are found to be ellipses with no apparent “boxyness” or “diskyness. ” The host galaxies of Mrk 501 and 1ES 2344+514 also exhibit a position angle twist that increases linearly with distance from the nucleus. Using the two‐dimensional photometric decomposition we have constructed tables of host galaxy magnitude as a function of measuring aperture diameter and seeing. These tables can be used to “clean” photometric data of the host galaxy contribution.
Particle Acceleration at Relativistic Shocks in Extragalactic Systems

Diffusive shock acceleration (DSA) at relativistic shocks is expected to be an important acceleration mechanism in a variety of astrophysical objects including extragalactic jets in active galactic nuclei and gamma ray bursts. These sources remain strong and interesting candidate sites for the generation of ultra‐high energy cosmic rays. In this paper, key predictions of DSA at relativistic shocks that are salient to the issue of cosmic ray ion and electron production are outlined. Results from a Monte Carlo simulation of such diffusive acceleration in test‐particle, relativistic, oblique, MHD shocks are presented. Simulation output is described for both large angle and small angle scattering scenarios, and a variety of shock obliquities including superluminal regimes when the de Hoffman‐Teller frame does not exist. The distribution function power‐law indices compare favorably with results from other techniques. They are found to depend sensitively on the mean magnetic field orientation in the shock, and .
High-throughput screen to identify compounds that prevent or target telomere loss in human cancer cells

Abstract Chromosome instability (CIN) is an early step in carcinogenesis that promotes tumor cell progression and resistance to therapy. Using plasmids integrated adjacent to telomeres, we have previously demonstrated that the sensitivity of subtelomeric regions to DNA double-strand breaks (DSBs) contributes to telomere loss and CIN in cancer. A high-throughput screen was created to identify compounds that affect telomere loss due to subtelomeric DSBs introduced by I-SceI endonuclease, as detected by cells expressing green fluorescent protein (GFP). A screen of a library of 1832 biologically-active compounds identified a variety of compounds that increase or decrease the number of GFP-positive cells following activation of I-SceI. A curated screen done in triplicate at various concentrations found that inhibition of classical nonhomologous end joining (C-NHEJ) increased DSB-induced telomere loss, demonstrating that C-NHEJ is functional in subtelomeric regions. Compounds that decreased DSB-induced telomere loss included inhibitors of mTOR, p38 and tankyrase, consistent with our earlier hypothesis that the sensitivity of subtelomeric regions to DSBs is a result of inappropriate resection during repair. Although this assay was also designed to identify compounds that selectively target cells experiencing telomere loss and/or chromosome instability, no compounds of this type were identified in the current screen.
STELLAR POPULATIONS AND STRUCTURAL PROPERTIES OF ULTRA FAINT DWARF GALAXIES, CANES VENATICI I, BOÖTES I, CANES VENATICI II, AND LEO IV

We take deep images of four ultra faint dwarf (UFD) galaxies, Canes Venatici I (CVn I), Boötes I (Boö I), Canes Venatici II (CVn II), and Leo IV, using the Suprime-Cam on the Subaru Telescope. Color–magnitude diagrams (CMDs) extend below main-sequence turnoffs (MSTOs) and yield measurements of the ages of stellar populations. The stellar populations of three faint galaxies, the Boö I, CVn II, and Leo IV dwarf spheroidal galaxies (dSphs), are estimated to be as old as the Galactic globular cluster M92. We confirm that Boö I dSph has no intrinsic color spread in the MSTO and no spatial difference in the CMD morphology, which indicates that Boö I dSph is composed of an old single stellar population. One of the brightest UFDs, CVn I dSph, shows a relatively younger age (∼12.6 Gyr) with respect to Boö I, CVn II, and Leo IV dSphs, and the distribution of red horizontal branch (HB) stars is more concentrated toward the center than that of blue HB stars, suggesting that the galaxy contains complex stellar populations. Boö I and CVn I dSphs show the elongated and distorted shapes. CVn II dSph has the smallest tidal radius of a Milky Way satellite and has a distorted shape, while Leo IV dSph shows a less concentrated spherical shape. The simple stellar population of faint UFDs indicates that the gases in their progenitors were removed more effectively than those of brighter dSphs at the occurrence of their initial star formation. This is reasonable if the progenitors of UFDs belong to less massive halos than those of brighter dSphs.
Optimal fluxes and Reynolds stresses

It is remarked that fluxes in conservation laws, such as the Reynolds stresses in the momentum equation of turbulent shear flows, or the spectral energy flux in anisotropic turbulence, are only defined up to an arbitrary solenoidal field. While this is not usually significant for long-time averages, it becomes important when fluxes are modelled locally in large-eddy simulations, or in the analysis of intermittency and cascades. As an example, a numerical procedure is introduced to compute fluxes in scalar conservation equations in such a way that their total integrated magnitude is minimised. The result is an irrotational vector field that derives from a potential, thus minimising sterile flux ‘circuits’. The algorithm is generalised to tensor fluxes and applied to the transfer of momentum in a turbulent channel. The resulting instantaneous Reynolds stresses are compared with their traditional expressions, and found to be substantially different. This suggests that some of the alleged shortcomings of simple subgrid models may be representational artefacts, and that the same may be true of the intermittency properties of the turbulent stresses.
Chemical Abundances of Outer Halo Stars in the Milky Way

We present the chemical abundances of 57 metal-poor ([Fe=H] 5 kpc above and below the Galactic plane. High-resolution (R � 50000–55000), high signal-to-noise (S=N > 100) spectra for the sample stars obtained with Subaru/HDS were used to derive the chemical abundances of Na, Mg, Ca, Ti, Cr, Mn, Fe, Ni, Zn, Y, and Ba with an LTE abundance analysis code. The resulting abundance data were combined with those presented in the literature that mostly targeted at smaller Zmax stars, and both data were used to investigate any systematic trends in detailed abundance patterns depending on their kinematics. It was shown that, in the metallicity range of � 2 5 kpc are systematically lower (� 0.1 dex) than those with a smaller Zmax. For this metallicity range, a modest degree of depression in the [Si=Fe] and the [Ca=Fe] ratios was also observed. This result of lower [˛=Fe] for the assumed outer halo stars is consistent with previous studies that found a signature of lower [˛=Fe] ratios for stars with extreme kinematics. The distribution of the [Mg=Fe] ratios for the outer halo stars partly overlaps with that for stars belonging to the Milky Way dwarf satellites in the metallicity interval of � 2 < [Fe=H] < � 1 and spans a range intermediate between the distributions for the inner halo stars and the stars belonging to the satellites. Our results confirm the inhomogeneous nature of the chemical abundances within the Milky Way stellar halo, depending on the kinematic properties of the constituent stars, as suggested by earlier studies. Possible implications for the formation of the Milky Way halo and its relevance to the suggested dual nature of the halo are discussed.
Development and application of a multilingual electronic decision-support tool for risk screening non-native terrestrial animals under current and future climate conditions

Electronic decision-support tools are becoming an essential component of government strategies to tackle non-native species invasions. This study describes the development and application of a multilingual electronic decision-support tool for screening terrestrial animals under current and future climate conditions: the Terrestrial Animal Species Invasiveness Screening Kit (TAS-ISK). As an adaptation of the widely employed Aquatic Species Invasiveness Screening Kit (AS-ISK), the TAS-ISK question template inherits from the original Weed Risk Assessment (WRA) and related WRA-type toolkits and complies with the ‘minimum requirements’ for use with the recent European Regulation on invasive alien species of concern. The TAS-ISK consists of 49 basic questions on the species’ biogeographical/historical traits and its biological/ecological interactions, and of 6 additional questions to predict how climate change is likely to influence the risks of introduction, establishment, dispersal and impact of the screened species. Following a description of the main features of this decision-support tool as a turnkey software application and of its graphical user interface with support for 32 languages, sample screenings are provided in different risk assessment areas for one representative species of each of the main taxonomic groups of terrestrial animals supported by the toolkit: mammals, birds, reptiles, amphibians, annelids, insects, molluscs, nematodes, and platyhelminths. The highest-scoring species were the red earthworm Lumbricus rubellus for the Aegean region of Turkey and the New Zealand flatworm Arthurdendyus triangulatus for Croatia. It is anticipated that adoption of this toolkit will mirror that of the worldwide employed AS-ISK, hence allowing to share information and inform decisions for the prevention of entry and/or dispersal of (high-risk) non-native terrestrial animal species – a crucial step to implement early-stage control and eradication measures as part of rapid-response strategies to counteract biological invasions.
Modeling and Analysis of a Vibratory Bowl Feeder

Vibratory bowl feeders are required in industrial automation for the correct orientation of feed parts. These are considered to be efficient machines that are cheap and effective. The biggest disadvantage of the traditional vibratory bowl feeder is its inability to adapt to new designs, shapes, and orientations of the feed parts. Traditional vibratory bowl feeders are very inflexible and can work with only one orientation of the part. Although vibratory bowl feeders are considered to be traditional devices, these are now very much modernized and have adapted to diversified industrial needs. Robotic arms are also often used along with the cameras to orient the parts. However, with the employment of robots comes a high cost, extensive maintenance requirements, and complexity in the assembly line. So a viable solution is to use the best features of both machines, i.e. while keeping the cheap effective, and efficient qualities of a traditional vibratory bowl feeder, alter it to adapt to the changing part shapes and assembly lines. By doing so we can use the same vibratory bowl feeder for various orientations of components and in various assembly lines. This would eliminate the need for redesigning the vibratory bowl feeder with the orientation of each component, with which the assembly line is not only expensive but also time-consuming. By using this technique, we can orient almost any part, which is being fed to the feeder with the traditional vibratory feeder, without the use of fancy equipment or robots, just by altering and modernizing the traditional vibratory feeder. This would make the traditional vibratory bowl feeder, a device that is very flexible and can adapt to the changing feed, solving many problems. We can thus alter an already available system, to become versatile and adaptable, in numerous assembly lines for different parts, with very little alteration to the already existing systems. This research analyses the response of a vibratory bowl feeder under no external force, step input, and a sinusoidal input. The vibratory bowl feeder is modeled as a simple two degrees of freedom spring-mass-damper system and observed under the given inputs. The system is modeled as a case of base excitation, which is the case of a vibratory bowl feeder, as the input is applied to the system by the base. The results are validated by response graphs, which show the behavior and motion of the system under a specific input. Optimization suggestions are given by analyzing the results and behavior of the system.
Controllable femtosecond laser‐induced dewetting for plasmonic applications

Dewetting of thin metal films is one of the most widespread method for functional plasmonic nanostructures fabrication. However, simple thermal‐induced dewetting does not allow to control degree of nanostructures order without additional lithographic process steps. Here we propose a novel method for lithography‐free and large‐scale fabrication of plasmonic nanostructures via controllable femtosecond laser‐induced dewetting. The method is based on femtosecond laser surface pattering of a thin film followed by a nanoscale hydrodynamical instability, which is found to be very controllable under specific irradiation conditions. We achieve control over degree of nanostructures order by changing laser irradiation parametrs and film thickness. This allowed us to exploit the method for the broad range of applications: resonant light absorbtion and scattering, sensing, and potential improving of thin‐film solar cells.
Low-Overhead Harvest-Then-Transmit in TSCH-Based Wireless Powered Sensor Networks

This paper presents a low-overhead harvest-then-transfer (LoHTT) for time slotted channel hopping (TSCH)- based wireless powered sensor networks (WPSNs). LoHTT aims to reduce the overhead. To this end, LoHTT includes two operations: 1) required cell calculation and 2) cell allocation. The first calculates the number of required power and data cells considering consecutive transmissions of RF signals and data packets. The second allocates a series of power and data cells that use a specific channel. The simulation results showed that LoHTT obtains better channel utilization and aggregate throughput compared to the existing MAC protocol.
A Study of the Frequency Response of a Microwave Ring Resonator Circuit for Use as a Sensor

This work presents a study of the ring resonator circuit, the objective was to develop a microwave sensor that would detect pesticide residues. A closed-ring structure with two transmission lines is presented. It concentrates on the transmission coefficient's resonance frequency response analysis when tested with organic vegetable juice. The results indicated that resonance frequency had changed to a lower frequency as a resultant shift in the electrical permittivity of the test materials and the characterization of the resonance frequency to a narrow band. It was a sensor property that qualifies it for its application as a detection device.
The Effective Strength of Gravity, the Scale of Inflation (and how KK gravitons evade the Higuchi Bound)

For any given momentum transfer, gravitational interactions have a strength set by a characteristic scale $M_*$ inferred from amplitudes calculated in an effective theory with a strong coupling scale $M_{**}$. These are in general different from each other and $M_{\rm pl}$, the macroscopic strength of gravity as determined by (laboratory scale) Cavendish experiments. During single field inflation, $M_*$ can differ from $M_{\rm pl}$ due to the presence of any number of (hidden) universally coupled species between laboratory and inflationary scales. Although this has no effect on dimensionless (i.e. observable) quantities measured at a fixed scale such as the amplitude and spectral properties of the CMB anisotropies, it complicates the inference of an absolute scale of inflation given any detection of primordial tensors. In this note we review and elaborate upon these facts and address concerns raised in a recent paper.
PERSEPSI ORANG ASING TERHADAP PARIWISATA di INDONESIA

Pariwisata merupakan salah satu aset yang dapat memberikan manfaat besar bagi negara, terutama dalam pembangunan ekonomi. Sasaran sebenarnya dari penelitian ini adalah minat wisatawan asing terhadap pariwisata Indonesia. Pertanyaan utama dari proyek penelitian ini adalah “Bagaimana pandangan orang asing terhadap pariwisata di Indonesia? ”. Kajian penelitian ini dilakukan terhadap pariwisata di beberapa wilayah Indonesia secara acak. Penelitian ini menggunakan metodologi kuantitatif dengan mengandalkan pengumpulan data primer melalui kuesioner. Selain itu, penelitian ini juga memanfaatkan artikel akademik dan buku-buku yang membahas topik terkait. Kuesioner yang telah dikirimkan sebanyak 100 eksemplar dan 90 eksemplar telah dikumpulkan dan diterima untuk dianalisis menggunakan aplikasi Microsoft Excel dan Paket Statistik Ilmu Sosial (SPSS) berbasis komputer. Hasil penelitian menyimpulkan bahwa 58,5% wisatawan yang berkunjung ke Indonesia berusia 30 tahun ke atas. Selain itu, hasil penelitian menunjukkan bahwa lebih dari 50% responden memilih untuk tinggal di Indonesia lebih dari 7 hari. Data tersebut juga menunjukkan bahwa 50% responden telah mengunjungi Indonesia lebih dari 5 kali. Kemudian 24,4% pengunjung mengunjungi Indonesia lebih dari satu kali. Selain itu, 48,9% responden memilih kembali ke Indonesia.
Atmospheric monitoring and gamma-ray data analysis with the H.E.S.S. telescope array

The High Energy Stereoscopic System (H.E.S.S.) consists of an array of four ground-based imaging atmospheric Cherenkov telescopes. The aim of the system is to detect Cherenkov radiation emitted from extensive air showers caused by very high energy gamma-ray radiation interacting with the atmosphere. The implementation of more than one telescope allows multiple views of a single extensive air shower, providing a more accurate reconstruction of the event and offering greater cosmic ray background suppression, allowing better analysis of gamma rays. Unlike charged particles, gamma rays reach the Earth in the direction in which they were emitted thus allowing us to investigate the emission mechanisms and properties of various gamma-ray sources. Since Cherenkov radiation is produced and propagates through the atmosphere, the atmosphere plays a large role in the detection of gamma rays and must be monitored carefully. This thesis will explore the effects of the atmosphere on the H.E. S.S. telescopes and gamma-ray analysis and is structured as follows: The first chapter highlights all the important aspects of very high energy (VHE) gamma-ray astronomy focusing on the H.E. S.S. system. Chapter 2 gives a general overview of active galactic nuclei (AGN) and the extragalactic background light (EBL) as a precursor to data analysis in Chapter 4. Chapter 3 discusses the atmosphere and atmospheric monitoring performed at the H.E. S.S. site. I present data analysis of the four atmospheric monitoring instruments revealing seasonal trends and cross-correlations between instruments. Chapter 4 contains the heart of the thesis, where all aspects from the previous chapters are integrated to show the effects of the atmosphere on the H.E. ร. ร. system and subsequent AGN and EBL data analysis. I first compare trigger rate data from the telescopes and data from the atmospheric monitoring instruments. It is shown that backscatter, sky radiance, and transmissivity are correlated to the trigger rate to various degrees. It is then shown that gamma-ray data is less affected by varying atmospheric conditions, especially for the higher energy gamma rays. Active atmospheric calibration is then presented as a way to correct gamma-ray data when there is a large amount of low-lying aerosols in the atmosphere. This method is subsequently used to correct the gamma-ray fluxes for 2 AGN, PKS 2155-304 and H 2356-309. It is shown that the correction works best for the higher flux source PKS 2155-304 rather than H 2356-309 whose flux is often consistent with zero. These AGN are then used to calculate upper limits to the EBL using a simple monoenergetic model. The upper limits to the EBL in the wavelength range of 0.4-1 μm are shown to be consistent with the results from the most exhaustive study of the EBL testing over 8 million EBL shapes. Chapter 5 is the concluding chapter discussing future work to be done at H.E. S.S. site, with the addition of a new LIDAR and VHE telescope, and beyond.
Research on Modal Calculation of Six Joint Industrial Robot at Different Poses

In order to study the influence of different poses on the structural modes of a six joint industrial robot, a calculation method based on the theory of substructure and DOF reduction is proposed. Firstly, the DOF of the joint arm is reduced by using the FE software. Secondly, the stiffness matrix containing 3-dimension torsion stiffness of the reducers is established to consider the joint flexibility, and the equivalent generalized mass matrix is established to consider the inertia of the robot's accessories. Combined with the kinematics of the robot, the direct calculation of modal frequency and modal shape of the robot under different poses is realized by programming. The error of the first 6-order modal frequencies calculated by this method is less than 4% by comparing with the modal test results of the robot. The calculated results indicate that the first two-order modal frequencies of the robot vary about 47.2% and 76.7% under different poses in the workspace, which are mainly affected by the joint angles of J2 and J3.
INFLUENCE OF THE POLAR CAP CURRENT ON PULSAR POLARIZATION

We have developed a model for the polarization of curvature radiation by taking into account the polar-cap-current-induced perturbation on the dipolar magnetic field. We present the effects of the polar cap current on the pulsar radio emission in an artificial case when the rotation effects, such as aberration and retardation, are absent. Our model indicates that the intensity components and the polarization angle inflection point can be shifted to either the leading or the trailing side depending upon the prevailing conditions in the viewing geometry, the non-uniformity in source distribution (modulation), and the polar-cap-current-induced perturbation. Also, we find evidence for the origin of symmetric-type circular polarization in addition to the antisymmetric type. Our model predicts a stronger trailing component compared to that on the leading side of a given cone under some specific conditions.