Miracle-dz/UniFAR-FTUs huggingface dataset:
Resource-coordinated hierarchical planning for real-time autonomous systems

In recent years, mobile robots have been used to perform tasks unsuitable for humans, be they too dangerous or logistically difficult. Their use has allowed undertakings which would have otherwise been impossible or economically infeasible. Still, robot technology is quite limited. In particular, many of the more challenging robotic tasks require a person to actively control the robot and make the decisions necessary for completing the task. In a number of applications, the requirement for a person to be in control of the robot is prohibitive; these applications require rapid, flawless communication between the robot and the operator. Removal of the communications link would allow whole new fields of research and enterprise, particularly in underwater and space applications, where communication is technically difficult and of low quality. The capabilities required of an autonomous mobile robotic system include the ability to make and to execute plans. In order to execute plans, the system must make the decisions necessary to execute those plans, and it must determine when replanning is necessary. The planning problem is one that is often considered in the context of optimization theory. The solutions to the problem of planning in a real-time scenario and to the problem of executing those plans require further development. In this thesis, the theory underlying the real-time planning problem is discussed and developed in the context of a hierarchical optimization problem. A focus of this thesis research has been the development of the management functions that are required for the real-time coordination of the planning and plan execution performed at each level of a hierarchical planning system. A software architecture has been designed and implemented; the implementation includes the hierarchy of planners and the associated planning management functions. The architecture is applied in an autonomous underwater vehicle scenario. The resulting planning system is tested in a simulation wherein commands are issued to a control system which in turn drives a six-degree-of-freedom model of a small submersible. Models of sensors provide feedback information to the planning system, closing the loop. The main result of the research has been the formulation of an autonomous planning system architecture which is applicable to a variety of planning and decision-making problems. Further development of the algorithms employed in this embodiment of the planning system can improve the performance of the system when applied to any particular problem. It is the development of an architecture that integrates and manages a real-time hierarchical planning system, not the particular algorithms used in its embodiment, that is the major contribution of the thesis. Thesis Supervisor: Milton B. Adams Title: Lecturer in Aeronautics and Astronautics
PMSM Angle Detection Based on the Edge Field Measurements by Hall Sensors

This paper presents a two Hall sensor method for rotor angle detection in permanent magnet synchronous motors (PMSM). To minimize the implementation complexity, the system is designed to measure the edge field of permanent magnet pieces. However, there are nonlinearities in the measured values of the edge field. In this work, an angle correction algorithm is proposed, and the improvements in accuracy are verified through experiments. Finally, a field orientation controller is constructed with the proposed angle detection algorithm.
Illegitimate Recombination between Duplicated Genes Generated from Recursive Polyploidizations Accelerated the Divergence of the Genus Arachis

The peanut (Arachis hypogaea L.) is the leading oil and food crop among the legume family. Extensive duplicate gene pairs generated from recursive polyploidizations with high sequence similarity could result from gene conversion, caused by illegitimate DNA recombination. Here, through synteny-based comparisons of two diploid and three tetraploid peanut genomes, we identified the duplicated genes generated from legume common tetraploidy (LCT) and peanut recent allo-tetraploidy (PRT) within genomes. In each peanut genome (or subgenomes), we inferred that 6.8–13.1% of LCT-related and 11.3–16.5% of PRT-related duplicates were affected by gene conversion, in which the LCT-related duplicates were the most affected by partial gene conversion, whereas the PRT-related duplicates were the most affected by whole gene conversion. Notably, we observed the conversion between duplicates as the long-lasting contribution of polyploidizations accelerated the divergence of different Arachis genomes. Moreover, we found that the converted duplicates are unevenly distributed across the chromosomes and are more often near the ends of the chromosomes in each genome. We also confirmed that well-preserved homoeologous chromosome regions may facilitate duplicates’ conversion. In addition, we found that these biological functions contain a higher number of preferentially converted genes, such as catalytic activity-related genes. We identified specific domains that are involved in converted genes, implying that conversions are associated with important traits of peanut growth and development.
Ultrafast fiber laser and amplifier systems for precision applications

Laser oscillators and amplifiers based on rare-earth-doped fibers are able to generate ultra-short laser pulses in the femtosecond regime. The typical limitations of fiber-based ultra-fast systems, e.g. in pulse energy caused by nonlinear effects, can be overcome with appropriate laser designs. Then, a high spatial precision as well as a high temporal precision can be achieved in order to support nano-structuring, time-resolved spectroscopy, or frequency metrology.
A multi‐objective optimization model for determining urban energy systems under integrated energy service in a specific area

The integrated energy service system for a specific area is supposed to deliver electric and thermal energy in an integrated manner for the purpose of reducing cost, primary energy consumption, and CO2 emission. Under an assumption of the service system, this paper develops a multi‐objective optimization model for determining urban energy systems. Considering the various energy system alternatives, such as photovoltaic generations for residential houses and fuel‐cell cogenerations for business and commercial customers, the model determines the share of the energy system alternatives in order to minimize the above three indices. As numerical examples, this paper illustrates trade‐off analyses in the case when the proposed model is applied to a 2 km × 2 km square area in Osaka. Finally, this paper illustrates the role of various energy system alternatives from CO2 reduction and fossil energy reduction points of view. © 2004 Wiley Periodicals, Inc. Electr Eng Jpn, 147(3): 20–31, 2004; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/eej.10275
Asynchronous Cooperative Spectrum Sensing Scheme on Primary Users with Fast "On/Off" State Variations in Spectrum Sensing Windows

Cognitive Radio has attracted intensive interests of the researchers, recently. The data rate always increases in the emerging technologies. The increased data rate poses mainly two challenges for spectrum sensing. One is that the state of primary user (PU) is fast and alternatively varying between “on/off” in a spectrum sensing window. The other is that the asynchronicity among the reports in a cooperative spectrum sensing setting becomes more apparent. Both of them would deteriorate the spectrum sensing performance. Thus, we propose an asynchronous cooperative spectrum sensing method to cope with these two challenges. A likelihood ratio test based spectrum sensing is developed for a single cooperator. The likelihood ratio is obtained in the setting of fast varying PU state. The likelihood ratio test is uniformly powerful according to the Neyman-pearson lemma. Furthermore, the asynchronicity among the cooperators are studied. Two sets of fusion weights are discussed for the asynchronous time among cooperators. One is designed based on the condition probability of the PU state variation and the other one is designed based on the queueing theory. The simulation results are provided with different fusion methods. The performance improvements are demonstrated.
Software-aided Service Bundling : Intelligent Methods and Tools for Graphical Service Modeling

Services, such as insurances, transport, medical treatments and more, have been subject to extensive research business science for decennia. When services are offered, bought or consumed online, we refer to them as e-services. This PhD thesis focuses on an ontological foundation for service description and configuration. Such a conceptual modeling approach facilitates complex e-service scenarios, in which a customer can define a bundle of services, possibly supplied by multiple suppliers, based on his needs and requirements. The research can be used in two ways: 1. By marketing departments, business analysts and consultants, in order to develop new service bundles during a business analysis (especially involving networked enterprises). 2. To create e-service websites that enable customers define and buy service bundles based on their needs and demands.
On the Methodology of Peace Research

1. Research as decision-making Anyone doing a piece of research knows the innumerable choices that have to be made during the process. In the initial stage, the research task is formulated and reformulated, concepts developed, ideas jotted down. In what may be called the middle stage, the shape of the work has already been defined, and the carrying-out takes place, with selection of models, indicators, parameters, data collection and data processing techniques, etc. In the final stage, writing out, publication, other forms of dissemination, and (possibly) real world application occur. Only the middle stage has been subjected to any detailed methodological scrutiny. However, with both the initial impulse for doing research and the way it is utilized left out, methodology becomes a mere collection of techniques. We feel, instead, that the complete 'history' of research projects should be a matter for detailed and rational discussion; and that, in particular, the technical choices made in the middle stage should be related to the initial goals and the final use of research. The researcher makes decisions from beginning to end, some of them trivial, some of them of great importance to the outcome. It goes without saying that the effort of analysis should be expended on the latter only. At many points there are norms and criteria that guide his choices: he should not falsify data; he should use intersubjective measurement methods; he should, except for good reasons, use techniques and concepts already established in the field. But and this is basic the rules of social science do not exclude all alternatives; at most decision-making points several possibilities will still be left open, and the researcher must of economic necessity choose one of them. (It does happen that two or three alternatives are used parallelly, but all acceptable branches can rarely if ever be explored.) Consensual rules determine the exclusion of some alternatives, but the choice among the remaining (which countries to study? , what formal model to apply? , which parameters to use? , in what language to publish? ) rests with the researcher. It is here we as researchers should ask for clear definitions of the possible choices, the implications of each alternative, and the reasons why one particular choice is made. If, as very often happens, no or clearly insufficient reasons are given, we can still pose the alternatives and ponder their consequences.
Analysis of direct torque control in permanent magnet synchronous motor drives

This paper describes an investigation of direct torque control (DTC) for permanent magnet synchronous motor (PMSM) drives. It is mathematically proven that the increase of electromagnetic torque in a permanent magnet motor is proportional to the increase of the angle between the stator and rotor flux linkages, and, therefore, the fast torque response can be obtained by adjusting the rotating speed of the stator flux linkage as fast as possible. It is also shown that the zero voltage vectors should not be used, and stator flux linkage should be kept moving with respect to the rotor flux linkage all the time. The implementation of DTC in the permanent magnet motor is discussed, and it is found that for DTC using available digital signal processors (DSPs), it is advantageous to have a motor with a high ratio of the rated stator flux linkage to stator voltage. The simulation results verify the proposed control and also show that the torque response under DTC is much faster than the one under current control.
Performance Evaluation of Switching Amplifier in Micro-positioning Systems with Piezoelectric Actuator

In this paper, an improved drive method of piezoelectric PZT stack actuator for micro-positioning system is proposed and the performances are evaluated. This type of amplifier is based on switching technology efficiently handling the arbitrary regenerative energy from the piezoelectric actuator. The conventional voltage-feedback control method has the THD of -32dB () with 100mHz sinusoidal reference, which means that the positioning performance in linearity degrades due to the hysteretic relationship between actuator voltage and the displacement. This paper proposed an improved charge-controlling method, which utilizes differential information of charge reference instead of integrating the actuator's current. The current waveform has THD under -40dBV (=1%) and the displacement waveform nearly -52dB (), which means that the positioning performance is very excellent. Finally, another method of the displacement feedback control has better performance than the voltage method, however there exists a limitation in performance of the system.
Chronic pulmonary aspergillosis in a patient with hyper‐IgE syndrome

Hyperimmunoglobulin E (IgE) syndrome (HIES) is a rare disease with an unclear prognosis. We report a case of HIES comorbid with chronic pulmonary aspergillosis (CPA). A 19‐year‐old male was referred to our department with a medical history of bacterial pneumonia and skin infection. Laboratory data showed an elevated eosinophil count and serum IgE level. Chest computed tomography (CT) showed a pneumatocele and bronchiectasis. On the basis of the clinical and laboratory findings and genetic mutation analysis, we diagnosed him as having HIES. Fourteen months later, he complained of blood‐tinged sputum and haemoptysis. Chest CT showed pneumatocele wall thickening, fungus ball and consolidation. Serum Aspergillus precipitating antibody and serum galactomannan Aspergillus antigen were positive, and Aspergillus fumigatus was detected in the sputum. We diagnosed CPA and treated him using antifungal agents and bronchial artery embolization. CPA is a complication that requires attention in patients with HIES.
Delay Characterization in FPGA-based Reconfigurable Systems

Runtime reconfigurable architectures accelerate the operation of a standard processor core by hardware accelerators implemented in Field Programmable Gate Arrays (FPGAs). Partial runtime reconfiguration allows the hardware accelerators to efficiently adapt to different computational tasks dynamically. Nowadays, the FPGAs from major vendors, such as Xilinx and Altera, support this feature, including the Xilinx Virtex-5 FPGA family which is the implementation platform of this work. Manufactured at 28 nm scaled technological node or lower, concerns rise about the impact of aging-related failure mechanisms on the modern generations of FPGAs. To detect degradation in the reconfigurable gate arrays, dedicated on- and offline test methods must be employed in the field. Design for dependability requires that the degradation is detected and localized, so that the degraded logic elements will not be used as a first choice in the reconfiguration. This thesis presents the development and the evaluation of a delay characterization method for FPGA CLBs which comprise most of the FPGA logic elements. The purpose of FPGA delay characterization method in this work is to detect and localize the delay variance. This delay variance information may be used for achieving a speed optimized reconfiguration for a FPGA-based runtime system. Different delay characterization methods have been studied in this thesis for determining a suitable method to be implemented in the partial reconfigurable system. The delay characterization is performed in a part of area in the FPGA before a module is placed in this area to avoid the degraded portion. This thesis uses low level hardware description language to generate the fine-grained measurement units which can cover the target area. VHDL is used to generate the test wrapper, control circuit, and the circuit for communicating between the FPGA and the workstation. Several measurement techniques are used to evaluate the accuracy of the delay characterization method. Additionally, this thesis evaluates the temperature influence on the delay characterization. The results show that this delay characterization method can compare the speed of logic elements in the partial runtime reconfiguration area with high accuracy. The degradation can be detected and localized. The results also show that this method can be adapted to different size and location, fitting in the partial runtime reconfigurable design. Twelve configurations are required to have a full coverage of all the CLBs in the area under test.
Hardness-assurance and testing issues for bipolar/BiCMOS devices

The dose-rate dependence of bipolar current-gain degradation is mapped over a wide range of dose rates. This dependence is very different from analogous MOSFET curves. Annealing experiments following irradiation show negligible change in base current at room temperature, but significant recovery at temperatures of 100 degrees C and above. In contrast to what is observed in MOSFETs, irradiation and annealing tests cannot be used to predict the low-dose-rate response of bipolar devices. A comparison of X-ray-induced and /sup 60/Co gamma-ray-induced gain degradation for bipolar transistors is reported. The role of the emitter bias during irradiation is also examined. Preliminary field-oxide capacitor studies suggest that the mechanism for the dose-rate effect may be related to charge yield in the basic surface oxides. Recommendations for hardness-assurance testing of bipolar devices include testing at dose rates below 10 rad(SiO/sub 2/)/s and applying safety factors to estimate the space-environment response. >
The first impressions of small humanoid robots modulate the process of how touch affects personality what they are

It is known that the touch sensations of robots promote or deteriorate their personality impressions, and this effect has been investigated as causal relationships between several components of touch sensations and personality impressions after touching the robots. However, how the relationships are similar among different types of robots and how the first impressions modulate the relationships have not been investigated. In this study, a data set comprising response data of adult participants for the first impressions, touch sensations, and personality impressions were collected for each of six small humanoid robots with 48 adult participants. Causal relationships from each component of the touch sensations and personality impressions were first investigated via path analysis through factor analysis. Then, we analyzed which first impressions strengthen or weaken which causal relationships via moderation analysis. As a result, totally four types of statistically significant causal relationships were found in several robots. Furthermore, one of these causal relationships, which is related to the impression of likability, is strengthened when the first impression of ‘an anticipation for peaceful emotional, verbal communication’ is strong. This suggests that the first impression design is as important as touch sensations when social robot designers attempt to design personality impressions. GRAPHICAL ABSTRACT
Research on the Impact of mHealth Apps on the Primary Healthcare Professionals in Patient Care

The goal of this study was to develop and use a questionnaire in order to analyse the effects of eHealth apps on patient care using Jordanian population. A two-stage cross-sectional research was conducted. A questionnaire was developed in the beginning to evaluate its consistency and legitimacy using Cronbach's alpha coefficient, a multitrait connection atmosphere; the multivariate technique is component examination. In the study's another phase, correlation and regression are used to determine the influence of eHealth apps on patient care. The five major axes of the final surveys were healthcare efficiency, teaching, notices, consultation, and follow-up. Individuals from diverse demographic aspects, such as gender, age, job experience, and education level, have no differing perspectives on cell phone use in their amenities, according to a staff's viewpoint evaluation. In general, mobile health applications had a good influence on health services and healthcare, which would be an important setting for the operative use of mobile headphones in public policy; such a background would affect in workers' intents to practice and adopt mHealth.
Aspects on Incomplete Modeling in System Identification

This thesis considers several aspects of the system identification problem. The major issues, however, are how one should represent and assess mode! errors. These issues have come to be central in system identification in recent years - mainly due to their relevance for robust control.The random error is the deviation between models based on finite data and infinite data. A measure of this error is the covariance matrix of the parameter estimate. An explicit expression for this covariance matrix has been known for long but, except under very restrictive assumptions, a consistent estimate has been missing. We derive two, conceptually different, simple, explicit and consistent estimation methods.A somewhat controversial issue in identification is whether disturbances should be considered as deterministic or stochastic. We show that, for prediction error methods or correlation methods, the input can be used to force a deterministic disturbance to behave like a stochastic disturbance from an identification point of view.Current mode! error problem formulations are somewhat ill-defined; it is in principle always possible to estimate the system perfectly asymptotically. We analyze a, perhaps more realistic, problem formulation which prevents this from being possible.When experimental data is sparse it is important to be able to incorporate prior knowledge of the system. A Bayesian procedure, suitable for transfer function estimation, is developed for this purpose.Mode! validation is another important issue. A standard procedure is to use statistical so called correlation tests. Previously it has been noticed that these tests may give levels of significance that differ from the desired ones. We show that it is possible to modify these tests so as to avoid this artifact.Spectral analysis is widely used for identification and time-series analysis. The method has previously been thoroughly analyzed from a quadratic mean point of view and here we complement this analysis with an almost sure convergence analysis.To support the analysis of the aforementioned methods a stochastic framework is developed. Byproducts of this are extensions of some convergence results for prediction error methods and instrumental variable methods.