Miracle-dz/UniFAR-FTUs huggingface dataset:
Linear Kinematics for General Constant Curvature and Torsion Manipulators

We present a novel general model that unifies the kinematics of constant curvature and constant twist continuum manipulators. Combining this kinematics with energy-based physics, we derive a linear mapping from actuator configuration to manipulator deformation that is analogous to traditional robot forward kinematics. Our model generalizes across manipulators with different sizes, types of bending, and types of actuators, without the need for parameter re-fitting. The combination of generality and linearity makes the model useful for control and planning algorithms. Finally, our model is shown to be accurate through experimental validation on manipulators with pneumatic artificial muscles.
Stirring and scalar transfer by grid-generated turbulence in the presence of a mean scalar gradient

Abstract The stirring of a passive scalar by grid-generated turbulence in the presence of a mean scalar gradient is studied by direct numerical simulations (DNS) for six different grids: one fractal square grid with three fractal iterations, one fractal square grid with four fractal iterations, one fractal I grid and three different regular grids. Our results can be summarised as follows. (i) For all these grids, the turbulence intensity averaged over time and over a plane parallel to the grid takes its peak value when the streamwise position of this plane is between $0. 75M_{eff}$ and $1. 5M_{eff}$ where $M_{eff}$ is the effective mesh size introduced by Hurst & Vassilicos (Phys. Fluids, vol. 19, 2007, 035103). (ii) Downstream of the location of this peak, the turbulence intensity averaged in this way is greatly enhanced by the fractal grids relative to the regular grids even though the fractal grids have comparable or even lower blockage ratios. The novelty of this result lies in the fact that it concerns turbulence intensities averaged over lateral planes (as well as time). (iii) The pressure drop is about the same across grids of the same blockage ratio whether fractal or not, but the pressure recovery is longer for the fractal grids. (iv) Even so, the fractal grids enhance turbulent scalar fluxes by up to an order of magnitude in the region downstream of the aforementioned peak and they also greatly enhance the streamwise growth of the fluctuating scalar variance in that region. (v) We demonstrate on a simple planar model problem that the cause of this phenomenon lies in the fractality of the grids. (vi) The turbulence scalar flux coefficient is constant far enough downstream of all the present grids and is significantly dependent on the nature and details of the turbulence-generating grid.
Memory Bounds for Concurrent Bounded Queues

Concurrent data structures often require additional memory for handling synchronization issues in addition to memory for storing elements. Depending on the amount of this additional memory, implementations can be more or less memory-friendly. A memory-optimal implementation enjoys the minimal possible memory overhead, which, in practice, reduces cache misses and unnecessary memory reclamation. In this paper, we discuss the memory-optimality of non-blocking bounded queues. Essentially, we investigate the possibility of constructing an implementation that utilizes a pre-allocated array to store elements and constant memory overhead, e.g., two positioning counters for enqueue(.) and dequeue() operations. Such an implementation can be readily constructed when the ABA problem is precluded, e.g., assuming that the hardware supports LL/SC instructions or all inserted elements are distinct. However, in the general case, we show that a memory-optimal non-blocking bounded queue incurs linear overhead in the number of concurrent processes. These results not only provide helpful intuition for concurrent algorithm developers but also open a new research avenue on the memory-optimality phenomenon in concurrent data structures.
Tensor network simulation of chains of non-Markovian open quantum systems

We introduce a general numerical method to compute dynamics and multi-time correlations of chains of quantum systems, where each system may couple strongly to a structured environment. The method combines the process tensor formalism for general (possibly non-Markovian) open quantum systems with time evolving block decimation (TEBD) for 1D chains. It systematically reduces the numerical complexity originating from system-environment correlations before integrating them into the full many-body problem, making a wide range of applications numerically feasible. We illustrate the power of this method by studying two examples. First, we study the thermalization of individual spins of a short XYZ Heisenberg chain with strongly coupled thermal leads. Our results confirm the complete thermalization of the chain when coupled to a single bath, and reveal distinct effective temperatures in low, mid, and high frequency regimes when the chain is placed between a hot and a cold bath. Second, we study the dynamics of diffusion in an longer XY chain, when each site couples to its own bath.
Compression of the atomic cloud in a matter-wave stripe soliton using optical lattices

We consider an attractive quasi-one dimensional spin-orbit coupled Bose-Einstein condensate (SOC BEC) conﬁned in a periodic potential produced by the combination of linear and nonlinear optical lattices, and study the eﬀects of squeezing a stripe soliton by varying the inter-atomic interaction in the nonlinear lattice. It is observed that the nodes on the soliton arising entirely due to the eﬀect of spin-orbit coupling tend to disappear as we increase the squeezing eﬀect to ﬁnally get a stable fundamental soliton. This leads us to conclude that external pressure can reduce the eﬀect of spin-orbit coupling in the SOC BEC and even convert the system to a traditional BEC without spin-orbit coupling. We make use of an information theoretic measure to visualize how does the atomic density distribution in the condensate respond to continual reduction in the spin-orbit coupling eﬀect.
Trace representation of binary jacobi sequences

We determine the trace function representation, or equivalently, the Fourier spectral sequences of binary Jacobi sequences of period pq, where p and q are two distinct odd primes. This includes the twin-prime sequences of period p(p + 2) whenever both p and p + 2 are primes, corresponding to cyclic Hadamard difference sets. c © 2008 Elsevier B.V. All rights reserved.
Correlation between leakage current density and threading dislocation density in SiGe p-i-n diodes grown on relaxed graded buffer layers

A correlation between bulk leakage current density and threading dislocation density in silicon–germanium mesa-isolated diodes fabricated on relaxed graded buffer layers is presented. Si0.75Ge0. 25 p-i-n diodes were grown on SiGe graded buffers with different grading rates. Graded buffers with different grading rates yielded “virtual substrates” with varying densities of threading dislocations. Bulk leakage current densities were differentiated from surface leakage currents by using p-i-n diodes with different areas. We demonstrate that the increase in bulk leakage current density in SiGe p-i-n diodes can be modeled by generation processes assisted by deep levels related to threading dislocations.
Geographic Variation in Skull Morphology of the Japanese Crocodile Newt, Echinotriton andersoni (Amphibia: Urodela: Salamandridae), Inferred from Geometric Morphometrics

Abstract: The Anderson's crocodile newt, Echinotriton andersoni, is an endangered species distributed in the islands of Central Ryukyus, Japan. This species is well known to show high intraspecific genetic variation among islands, but its morphological variation has not been explored. We examined the skull variation in this species including enigmatic specimens collected from Taiwan by using geometric morphometrics, and found sexual differences and geographic variation mainly between the Okinawa group (Okinawajima Island) and the Amami Group (Amamioshima and Tokunoshima Islands). We further found close resemblance between the Taiwanese specimens and the female specimens from Amamioshima Island.
Intrapopulation Morphological Variation in Introduced African Clawed Frog, Xenopus laevis (Amphibia: Anura: Pipidae) in Japan

Abstract: The African clawed frog Xenopus laevis is a largely aquatic frog occurring from central to southern Africa. This species has been used as experimental animal, and has been introduced in many countries including Japan. However, despite its importance as an experimental animal and invasive alien species across the world, but there are few studies on basic biology of X. laevis including individual variation. In this study, we investigated individual variation in external morphology and allometric patterns. Traits not directly related to the skeleton showed high variability, but ecologically important traits like eye size at the youngest stage, showed low variability. No significant external left-right differences were identified. Allometric analysis showed that males have larger heads and eyes than females, suggesting male-male combat during breeding. Male forelimb suggests also showed a faster growth rate, suggesting that longer forelimbs are advantageous for males in breeding.
Modern Code Reviews—Survey of Literature and Practice

Background: Modern Code Review (MCR) is a lightweight alternative to traditional code inspections. While secondary studies on MCR exist, it is uanknown whether the research community has targeted themes that practitioners consider important. Objectives: The objectives are to provide an overview of MCR research, analyze the practitioners’ opinions on the importance of MCR research, investigate the alignment between research and practice, and propose future MCR research avenues. Method: We conducted a systematic mapping study to survey state of the art until and including 2021, employed the Q-Methodology to analyze the practitioners’ perception of the relevance of MCR research, and analyzed the primary studies’ research impact. Results: We analyzed 244 primary studies, resulting in five themes. As a result of the 1,300 survey data points, we found that the respondents are positive about research investigating the impact of MCR on product quality and MCR process properties. In contrast, they are negative about human factor– and support systems–related research. Conclusion: These results indicate a misalignment between the state of the art and the themes deemed important by most survey respondents. Researchers should focus on solutions that can improve the state of MCR practice. We provide an MCR research agenda that can potentially increase the impact of MCR research.
On Hausdorff dimension of recurrent net fractals

We estimate the Hausdorff dimension of recurrent net fractals showing that it coincides with the box-counting dimension. This is done for geometric constructions in a complete metric space, generalizing well-known theorems about self-similar sets. In particular, it follows that what is really essential in the dimension estimates of self-similar sets are their metric features and not the dynamical ones.
Mapping participation in ICT4D: A meta-analytic review of development communication research

We conducted a meta-analytic study of recent (2009 to 2020) information and communication technologies for development (ICT4D) research in the field of development communication. Our aim was to explore the conceptualization of participation in the context of ICTs and globalization in contemporary scholarly discourse. We found that most studies published during this period evinced a technological deterministic discourse regarding the process of social change, privileging modernization and neoliberal modes of development. In such contexts, participation has often been conceptualized in terms of invitations to ‘access’ (first-level of participation) and ‘empowerment’ (second-level of participation) at the local level. Despite increasing concern regarding global digital inequalities, research that approaches participation in terms of claims to ‘social justice’ (third-level of participation) associated with global forces has been limited. We found, however, that research emerging from the communication and media disciplines have shown skepticism regarding the dominant trends. The paper concludes with a discussion of future directions in ICT4D for scholars across disciplines.
The impact of cirrus microphysical and macrophysical properties on upwelling far‐infrared spectra

The potential for exploiting upwelling high‐resolution far‐infrared measurements to obtain information on cirrus microphysical properties is evaluated assuming single‐layer and multiple‐layer cirrus embedded in standard midlatitude winter and tropical atmospheres. The microphysical sensitivity of two high‐resolution spectral regions (606 cm−1–333 cm−1 and 250 cm−1–80 cm−1) to changes in optically thin single‐layer cirrus height, and to perturbing the volume mixing ratio of water vapour of the standard midlatitude winter atmosphere by 30% is studied. It is found that there are spectral ‘windows’ in the far‐infrared which are strongly dependent on ice crystal effective size. In particular, ‘windows’ existing between the wave numbers of about 365 cm−1 to 500 cm−1 and 85 cm−1 to 140 cm−1 demonstrate potential sensitivity to ice crystal effective dimension of up to about 100.0 µm and 50.0 µm, respectively. However, these same spectral windows are also shown to be strongly sensitive to assumptions about the shape of the particle size distribution function and ice crystal geometry. Moreover, sensitivity to ice crystal effective dimension is further shown to be dependent on the location of the cirrus layer within the atmosphere, especially in the spectral region 606 cm−1–333 cm−1. Perturbing the volume mixing ratio of water vapour by 30% has its largest impact on the cirrus layer located higher in the atmosphere. In this case the sensitivity to the smallest ice crystal effective dimension of about 8.0 µm is essentially removed and the sensitivity to the largest ice crystal effective dimension of about 100 µm is significantly reduced in the spectral region of 606 cm−1–333 cm−1. Therefore, in order to retrieve cirrus microphysical properties in the far‐infrared, prior information on ice crystal geometry and shape of the distribution function is required. Moreover, the volume mixing ratio of water vapour should be measured to within an accuracy of better than 30%. It is further demonstrated that for selected wave numbers in the far‐infrared, assuming a three‐layer cloud, there is also some dependence on the vertical structure of the atmosphere as well as the vertical profile of ice crystal effective size. © Crown Copyright 2007. Reproduced with the permission of Her Majesty's Stationery Office. Published by John Wiley & Sons, Ltd.
Intensification of bioprocesses with filamentous microorganisms

Abstract Many industrial biotechnological processes use filamentous microorganisms to produce platform chemicals, proteins, enzymes and natural products. Product formation is directly linked to their cellular morphology ranging from dispersed mycelia over loose clumps to compact pellets. Therefore, the adjustment and control of the filamentous cellular morphology pose major challenges for bioprocess engineering. Depending on the filamentous strain and desired product, optimal morphological shapes for achieving high product concentrations vary. However, there are currently no overarching strain- or product-related correlations to improve process understanding of filamentous production systems. The present book chapter summarizes the extensive work conducted in recent years in the field of improving product formation and thus intensifying biotechnological processes with filamentous microorganisms. The goal is to provide prospective scientists with an extensive overview of this scientifically diverse, highly interesting field of study. In the course of this, multiple examples and ideas shall facilitate the combination of their acquired expertise with promising areas of future research. Therefore, this overview describes the interdependence between filamentous cellular morphology and product formation. Moreover, the currently most frequently used experimental techniques for morphological structure elucidation will be discussed in detail. Developed strategies of morphology engineering to increase product formation by tailoring and controlling cellular morphology and thus to intensify processes with filamentous microorganisms will be comprehensively presented and discussed.
Alteration of Atmospheric Solar Absorption by Clouds: Simulation and Observation

Abstract This study investigated theoretically and experimentally two parameters employed in recent attempts to address cloud absorption anomaly. One is the ratio, R, of shortwave cloud radiative forcing (CRF) at the surface to that at the top of the atmosphere (TOA), and another is the slope, s, of the regressional relationship between TOA albedo and atmospheric transmittance. The physics and sensitivities of the two parameters were first examined by means of radiative transfer modeling. Neither R nor s is a direct measure of cloud absorption. However, R can indicate the effect of clouds on the atmospheric absorption of solar radiation, if clear-sky condition remains the same. A value of R > 1 implies clouds warm the atmosphere, while the converse is true for R < 1. Model simulations suggest that both R and s are sensitive to many factors, especially cloud height and surface condition. Nonetheless, modeled R rarely exceeds 1.25, and modeled s is generally less than −0.7, except for bright surfaces. The s.
New Kinematics for the Central Spheroid in Polar Disk Galaxy NGC4650A

Abstract We have obtained high angular resolution spectra on the photometric axes of the stellar spheroid in the polar disk galaxy NGC4650A. We discuss the main implications by the new kinematics on the previous mass models for NGC4650A and on current formation scenarios of Polar Ring Galaxies (PRGs).
The city as a giant component: a random graph approach to Zipf's law

The emergence of a ‘city’ out of a set of locations in space can be considered akin to the evolution of a random graph. Interaction between individuals who are connected to each other is at the source of the benefits associated with a city. If the interaction probability rises, a threshold is eventually crossed at which point most of the graph becomes connected, giving rise to a grand component. It is at this point that a viable ‘city’ emerges. This view suggests an interpretation of Zipf's law, which we test using US Census data.
Sorghum bicolor SbHSP110 has an elongated shape and is able of protecting against aggregation and replacing human HSPH1/HSP110 in refolding and disaggregation assays

Perturbations in the native structure, often caused by stressing cellular conditions, not only impair protein function but also lead to the formation of aggregates, which can accumulate in the cell leading to harmful effects. Some organisms, such as plants, express the molecular chaperone HSP100 (homologous to HSP104 from yeast), which has the remarkable capacity to disaggregate and reactivate proteins. Recently, studies with animal cells, which lack a canonical HSP100, have identified the involvement of a distinct system composed of HSP70/HSP40 that needs the assistance of HSP110 to efficiently perform protein breakdown. As sessile plants experience stressful conditions more severe than those experienced by animals, we asked whether a plant HSP110 could also play a role in collaborating with HSP70/HSP40 in a system that increases the efficiency of disaggregation. Thus, the gene for a putative HSP110 from the cereal Sorghum bicolor was cloned and the protein, named SbHSP110, purified. For comparison purposes, human HsHSP110 (HSPH1/HSP105) was also purified and investigated in parallel. First, a combination of spectroscopic and hydrodynamic techniques was used for the characterization of the conformation and stability of recombinant SbHSP110, which was produced folded. Second, small‐angle X‐ray scattering and combined predictors of protein structure indicated that SbHSP110 and HsHSP110 have similar conformations. Then, the chaperone activities, which included protection against aggregation, refolding, and reactivation, were investigated, showing that SbHSP110 and HsHSP110 have similar functional activities. Altogether, the results add to the structure/function relationship study of HSP110s and support the hypothesis that plants have multiple strategies to act upon the reactivation of protein aggregates.
Influence of Fluids on Earthquakes Based on Numerical Modeling

The strength and sliding behavior of faults in the crust is largely controlled by friction and effective stress, which is itself modulated by fluid pressure. Most earthquake models assume a fixed pore fluid pressure despite widespread evidence that is varies strongly in time due to changes in permeability. Here we explore how dynamic changes in pore pressure influence the properties of earthquakes in the upper crust. To study this problem we develop a two dimensional model that incorporates slow tectonic loading and fluid pressure generation during the interseismic period with frictional sliding on a thrust fault whose permeability evolves with slip. We find that the presence of relatively modest fluid overpressures tends to reduce coseismic slip, stress drop, maximum sliding velocity, rupture velocity and the earthquake recurrence time compared to models without fluids. Our model produces a wide range of sliding velocities from rapid to slow earthquakes, which occur due to the presence of high pore pressures prior to rupture. The models also show evidence for aftershocks that are driven by fluid transfer along the fault plane after the mainshock. Overall, this study shows that fluids can exert an important influence on earthquakes in the crust, which is mostly due to modulation of the effective stress and variations in permeability, and to a lesser extent to poro‐elastic coupling.
Adaptive Autopilot Design for Guided Munitions

Traditional autopilot design for guided munitions requires an accurate aerodynamic model and relies on a gain schedule to account for system nonlinearities. This paper presents an approach that simplifies the autopilot design process by mating an inverting controller designed at a single flight condition with an on-line neural network to account for errors that arise due to the approximate inversion. This eliminates the need for an extensive design process and also the requirement for accurate aerodynamic data, which can be especially critical at high angles of attack or other regimes at which the aerodynamics become highly nonlinear. The choice of inversion process itself has been found to be critical in the implementation, and is therefore discussed at length. Finally, results from an application of this approach to a full nonlinear 6DOF guided munition simulation are presented.