Multi-mode control based on HSIC for double pendulum robot

Double pendulum robot has four equilibrium points: Down-Down, Down-Up, Up-Down, and Up-Up. Define the transfer control from one equilibrium point to another equilibrium point as acrobatic action of DPR, and there are total of 20 acrobatic actions. This paper proposes the multi-mode control algorithm based on Human Simulated Intelligent Control theory for the realization process of those acrobatic actions, which has the structure of multi sub-controllers and multi control modes. As an example, the acrobatic action from Down-Up to Up-Down is realized in simulation and real-time experiments, and the results demonstrate the effectiveness of the proposed algorithm

Faithful completion of images of scenic landmarks using internet images

Abstract—Previous works on image completion typically aim to produce visually plausible results rather than factually correct ones. In this paper, we propose an approach to faithfully complete the missing regions of an image. We assume that the input image is taken at a well-known landmark, so similar images taken at the same location can be easily found on the Internet. We first download thousands of images from the Internet using a text label provided by the user. Next, we apply two-step filtering to reduce them to a small set of candidate images for use as source images for completion. For each candidate image, a co-matching algorithm is used to find correspondences of both points and lines between the candidate image and the input image. These are used to find an optimal warp relating the two images. A completion result is obtained by blending the warped candidate image into the missing region of the input image. The completion results are ranked according to combination score, which considers both warping and blending energy, and the highest ranked ones are shown to the user. Experiments and results demonstrate that our method can faithfully complete images

Ferrocen­yl(meth­yl)diphenyl­silane

In the title mol­ecule, [Fe(C5H5)(C18H17Si)], the distances of the Fe atom from the centroids of the unsubstituted and substituted cyclo­penta­dienyl (Cp) rings are 1.651 (1) and 1.646 (1) Å, respectively. The dihedral angle between the two Cp rings is 3.20 (17)°. The crystal packing is mainly stabilized by van der Waals forces

Diferrocen­yl(meth­yl)phenyl­silane

In the title mol­ecule, [Fe2(C5H5)2(C17H16Si)], the cyclo­penta­dienyl rings linked to the same Fe atom are approximately eclipsed and the inter­planar angles are 1.8 (2) and 3.4 (2)°. The Fe atom is slightly closer to the substituted cyclo­penta­dienyl ring

13c-(2-Chloro­ethoxy)-1,13c-dihydro-2,3-epoxy­dibenzo[a,kl]xanthan-1-one

The title compound, C22H15ClO4, containing three chiral C atoms, is an inter­mediate in the design of chiral alcohols. In the crystal structure, a chain structure is generated through C—H⋯O contacts and an intramolecular C—H⋯O interaction also occurs. The dihedral angle between the benzene ring and the naphthalene system is 16.5°

Longitudinal optical conductivities in tilted Dirac bands

We report a unified theory based on linear response, for analyzing the longitudinal optical conductivity (LOC) of materials with tilted Dirac cones. Depending on the tilt parameter $t$, the Dirac electrons have four phases, untilted, type-I, type-II, and type-III; the Dirac dispersion can be isotropic or anisotropic; the spatial dimension of the material can be one-, two-, or three-dimensions. The interband LOCs and intraband LOCs in $d$ dimension (with $d\ge2$) are found to scale as to $\sigma_{0}\omega^{d-2}$ and $\sigma_{0}|\mu|^{d-1}\delta(\omega)$, respectively, where $\omega$ is the frequency and $\mu$ the chemical potential. The interband LOCs always vanish in one dimension due to lacking of extra spatial dimension. The angular dependence of LOCs is found to characterize the band tilting, and the constant asymptotic background values of LOC reflect features of the Dirac bands. The LOCs in the anisotropic tilted Dirac cone can be connected to its isotropic counterpart by a ratio that consists of Fermi velocities. The findings are valid for a great many Dirac materials in the spatial dimensions of physical interests.Comment: 11 pages, 3 figure

AN EVALUATION OF THE POOLED LOLLI-METHOD RT-qPCR TESTING FOR COVID-19 SURVEILLANCE IN SINGAPORE

Background: Following the success of the Lolli-Method or Lolli-Test as a surveillance method in Germany, the Ministry of Health, Singapore investigated the feasibility of deploying the method as a rostered routine testing in vulnerable individuals such as children, nursing homes and frontline workers; and evaluated the sensitivity and ideal pooling ratio of the Lolli-Method.  Methods: The study was conducted in two phases – the first phase was to assess the operational feasibility of the Lolli-Method. It was held in conjunction with air sampling at a childcare centre with children ages 2 to 6 years old across 40 days. The second phase was to evaluate the sensitivity of the Lolli-Method with different pooling ratios and was conducted in collaboration with the National Centre for Infectious Diseases (NCID) where each pool was spiked with one Lolli swab from a COVID-positive patient. All patients enrolled in this study have their viral load cycle threshold (CT) levels assessed prior to admission via a mid-turbinate oropharyngeal (MTOP) polymerase chain reaction (PCR) swab.  Results: The sensitivity of the pooled Lolli-Test was similar to antigen rapid tests with 100% sensitivity (3/3) in a pooling ratio of 20:1 for patients with viral loads of cycle threshold (CT) levels below 20. For individuals with lower viral loads, the sensitivity of the Lolli-Test was 66.7% (2/3) in a pooling ratio of 20:1 and 100% (2/2) in a smaller pooling ratio of 15:1. The operational feasibility of the Lolli-Test was assessed to be high amongst study participants although students were noted to require some additional assistance from teachers.  Conclusion: The Lolli-Test is an effective surveillance method with adequate sensitivity to detect a COVID-19 infected individual in a pool of up to 20 albeit largely dependent on the viral load. Furthermore, the Lolli-Test also provides a less invasive alternative sample collection method for individuals who cannot tolerate or have contraindications for the regular nasal or oropharyngeal swabs such as young children. More studies should be done to assess the Lolli-Test’s true limit of detection and to evaluate the use of the Lolli-Method in infants and for other respiratory diseases such as influenza

Physicochemical properties and sensory attributes of medium- and long-chain triacylglycerols (MLCT)-enriched bakery shortening.

Six binary formulations of medium- and longchain triacylglycerols (MLCT) fat and palm stearin and four ternary formulations of MLCT fat, palm stearin, and palm olein were produced. MLCT fat and palm stearin were mixed in ranges of 40–90% with 10% increments (w/w), while for the ternary formulations, 10% and 20% palm olein were substituted to palm stearin in MS 46 and MS 55 formulations. The solid fat content (SFC) by pulsed nuclear magnetic resonance and heating profiles using differential scanning calorimeter of these formulations were determined. Results obtained from SFC and heating profiles found that all the formulations melted completely at 55 °C. The high complete melting temperature is due to the stearic acid content in MLCT fat. Generally, increasing % MLCT fat (40–90%) in the formulations lowers the SFC curves at the measured temperatures (0–60 °C). The binary samples of MS 73, MS 82, and MS 91 showed SFC between 15% and 25% at room temperature (25 °C), which indicated that these formulations were suitable for shortening production. As the production cost of MLCT fat is high (approximately USD 3/kg), an attempt to reduce the proportion of MLCT fat in the shortening formulations was done by developing the ternary formulations. Shortenings formulated with 40:40:20 (MSO 442), 50:40:10 (MSO 541), and 50:30:20 (MSO 532) of MLCT fat/palm stearin/palm olein formulations had similar SFC% at 25 °C, and they were subsequently chosen to produce shortening. Using multivariate analysis, taste attribute showed positively and highly correlated to the melting temperature and SFC at 25 °C of the LCT-enriched shortenings. In acceptance test, high correlation (R2=0.98) was only found on cakes made from MSO 442 and MSO 541 shortenings. Both untrained and trained panelists rated the Madeira cakes made from MSO 532 shortening the highest for overall acceptability