Miracle-dz/UniFAR-FTUs huggingface dataset:
Carbonates in the Critical Zone

Earth's Critical Zone (CZ), the near‐surface layer where rock is weathered and landscapes co‐evolve with life, is profoundly influenced by the type of underlying bedrock. Previous studies employing the CZ framework have focused primarily on landscapes dominated by silicate rocks. However, carbonate rocks crop out on approximately 15% of Earth's ice‐free continental surface and provide important water resources and ecosystem services to ∼1.2 billion people. Unlike silicates, carbonate minerals weather congruently and have high solubilities and rapid dissolution kinetics, enabling the development of large, interconnected pore spaces and preferential flow paths that restructure the CZ. Here we review the state of knowledge of the carbonate CZ, exploring parameters that produce contrasts in the CZ in different carbonate settings and identifying important open questions about carbonate CZ processes. We introduce the concept of a carbonate‐silicate CZ spectrum and examine whether current conceptual models of the CZ, such as the conveyor model, can be applied to carbonate landscapes. We argue that, to advance beyond site‐specific understanding and develop a more general conceptual framework for the role of carbonates in the CZ, we need integrative studies spanning both the carbonate‐silicate spectrum and a range of carbonate settings.
Programming Language Evaluation Criteria for Safety-Critical Software in the Air Domain

Safety-critical software in the air domain typically conforms to RTCA DO-178C. However, latent failures might arise based on assumptions underpinning the programming language used to write the software, whereas the lack of empirical data may constrain the selection of a promising but untested language. To overcome this difficulty, we propose evaluation criteria drawn from RTCA DO-178C, to help quickly review the potential applicability of programming languages in the air domain. We illustrate the constraints by using them to evaluate the suitability of the Rust programming language.
High performance organic field-effect transistors

The following report presents innovative technique for surface modification and device construction of top-contact pentacene-based thin film transistors (TFTs) with saturation mobility about 2.0 cm2/Vs. In the experiment we have utilized PSPI as a modification layer presenting a non-polar interface on which the semiconductor, pentacene, could grow. The surface of the modification layers was exposed to a polarized ultraviolet light with dose ranging from 0.2 J to 8 J. Ultraviolet light was applied to achieve a non-polar surface on which high performance TFTs have been subsequently fabricated. The experimental results showed that the parasitic contact resistances of silver electrodes could be extracted by gated-transfer length method, and the corrected field-effect mobility of pentacene TFTs for linear region was as high as 2.25 cm2/Vs. In this study, we were able to control the surface energy of polymer-based gate dielectric layers and the surface energy of the PSPI layer increasing the energy from about 38 to 42 mJ/m2 by differentiating doses of polarized ultraviolet light. When the PSPI film was exposed to 1 J of polarized ultraviolet light, the surface energy of PSPI, measured by the contact angle method, was about 38 mJ/m2. The measured energy matched the theoretically calculated surface energy of a pentacene crystal. Hence, the higher mobility OTFTs with low surface energy gate dielectric were obtained by spin-coating the PSPI as a modifier.
BEV-SLAM: Building a Globally-Consistent World Map Using Monocular Vision

The ability to produce large-scale maps for nav-igation, path planning and other tasks is a crucial step for autonomous agents, but has always been challenging. In this work, we introduce BEV-SLAM, a novel type of graph-based SLAM that aligns semantically-segmented Bird's Eye View (BEV) predictions from monocular cameras. We introduce a novel form of occlusion reasoning into BEV estimation and demonstrate its importance to aid spatial aggregation of BEV predictions. The result is a versatile SLAM system that can operate across arbitrary multi-camera configurations and can be seamlessly integrated with other sensors. We show that the use of multiple cameras significantly increases performance, and achieves lower relative error than high-performance GPS. The resulting system is able to create large, dense, globally-consistent world maps from monocular cameras mounted around an ego vehicle. The maps are metric and correctly-scaled, making them suitable for downstream navigation tasks.
Synthesis and Thermophysical Properties of Ti3C2TX-Based Vanadium Bromide Redox Flow for Green Energy Storage

Vanadium bromide redox flow batteries (V-Br RFB) have been created with new promising technologies for stationary renewable energy storage. Compared to previous redox flow battery systems, this technology is very efficient, inexpensive, and long-lasting. However, the low thermal conductivity, low diffusivity, high resistivity, high liquid density, and low energy efficiency of V-Br RFB need to be overcome. V-Br3 electrolytes containing MXene are being investigated in this work to increase thermal conductivity, decrease resistivity, and enhance diffusivity. The nanofluid based on V-Br3 electrolyte is tested with a varied MXene (Ti3C2Tx) content (0.25% wt, 0.50% wt, 0.75% wt) at different temperatures. Thermal and electrochemical characterizations, such as FTIR, UV-Vis, SEM, and EDX are done. MXene's light transmission capacity is improved, the 2D layer structure was smooth, and electrolyte solutions were stable, according to FTIR, UV-Vis, SEM, and EDX. The highest value of thermal conductivity for an MXene-based electrolyte is raised versus a base solution by 53.6%, 70.3%, and 82.1% while the resistivity is lowered by 65.1%, 81.2%, and 81.9%. At 450C, 0.75% wt MXene provides the highest thermal conductivity enhancement of 82.1%. The study's improved physical, thermal, and electrochemical characterizations may aid future research into green energy storage technology, and it will help to meet the Sustainable Development Goals (SDGs).
Decay-Based Error Correction in Collective Robotic Construction

Multi-robot systems have been shown to build large-scale, user-specified structures using distributed, environmentally-mediated coordination in simulation. Little attention, however, has been devoted to error propagation and mitigation. In this paper, we introduce a detailed simulation of TERMES, a prototypical construction system, in which robots have realistic error profiles. We use this simulator and 32 randomly generated 250-brick blueprints to show that action errors can have significant long-term effects. We study the spatio-temporal error distribution and introduce and characterize the efficacy of a simple decay-based error correction mechanism. Although inefficient, this type of error correction is promising because it can be performed by robots with the same limited sensory capabilities as those who place bricks. To limit the impact on the construction rate, we also examine decay mechanisms informed by spatial and temporal error distributions. The incorporation of decay in our building process increases the probability of successful completion by ~ 4, at the expense of ~1/4 decrease in construction rate.
COMPUTER AIDED DESIGN OF HORN RADIATORS FOR SATELLITE COMMUNICATION BY LEAST SQUARES OPTIMIZATION

Computer aided design optimization of corrugated horns became a powerful tool to reduce development costs on the one hand and to improve performance of space antennas on the other. In this paper the physical model is outlined, based on Maxwell's equations, and it is shown how a complete numerical simulation of a circular corrugated horn can be achieved, assuming that the interior geometry of the horn is known. In order to compute the electromagnetic properties of a horn, the so-called scattering matrix is assembled. This matrix is needed to relate mode amplitudes of reflected and transmitted waves in horn sections with different diameters. Envelope functions, determined by a few geometric design parameters, are used to describe the inner geometry of a horn. These parameters are applied to formulate a least squares optimization problem. As a starting point, an amplitude spectrum in the aperture has to be determined which radiates a given far field. The differences between those amplitudes and the amplitudes predicted by the model are to become as small as possible by adapting the design variables. Moreover, the return loss is to be minimized. The resulting least squares optimization problem can be solved by a standard sequential quadratic programming (SQP) code after a suitable transformation into a nonlinear programming problem, by which typical features of Gauss-Newton methods are retained. Some numerical results are included to show the successful application of the introduced advance to design a circular corrugated horn which radiates a given far field.
Design of Robust Feedback Control Together with Anti-Windup Compensator in Natural Frame for Three-Phase Grid-Tied Inverters with LCL Filter

The design and experimental validation of a robust feedback controller for three-phase grid-tied inverters using LCL filter are presented in this paper. The proposed controller is developed in the natural reference frame to deal with normal and abnormal grid voltage conditions. The objective of the proposed controller is to achieve the goals of stabilization, accurate tracking of sinusoidal references, and asymptotic disturbance rejection. These goals are fulfilled by considering an existing dynamic/stabilizing compensator, which was proposed for a class of perturbed linear systems with sinusoidal disturbances. This compensator guarantees accurate sinusoidal reference tracking under fixed-frequency sinusoidal disturbances. However, during the saturation of control input, the transient response can be deteriorated due to the resonant build-up and can even destroy the closed-loop stability. To overcome this issue, the dynamic compensator is modified, in this paper, to incorporate an anti-windup scheme, where the gain is determined using absolute stability tools including the circle criterion. The proposed controller demonstrated a strong ability to ensure exact tracking of the sinusoidal current reference and reject sinusoidal disturbances with a good transient response even when the momentarily controller saturates.
Predictability Associated with the Downstream Impacts of the Extratropical Transition of Tropical Cyclones: Case Studies

Abstract The extratropical transition (ET) of tropical cyclones often has a negative impact on the predictability of the atmospheric situation both around the ET event and farther downstream. The predictability of five ET cases of different intensities in the North Atlantic and the western North Pacific is investigated using the ECMWF ensemble prediction system. The variability in the ensemble members is regarded as a measure of the predictability. Plumes of forecast uncertainty spread downstream of each ET event. Initialization times closer to the ET events yield higher predictability of the downstream flow independent of forecast lead time. Principal component analysis and fuzzy clustering is used to assess the variability in the ensemble members and to identify groupings of the members that contribute in a similar way to the variability patterns. Applying the method to the potential temperature on the dynamic tropopause reveals a characteristic variability pattern in all five cases that is closely rela.
An offline geometric model for controlling the shape of elastic linear objects

We propose a new approach to control the shape of deformable objects with robots. Specifically, we consider a fixed-length elastic linear object lying on a 2D workspace. Our main idea is to encode the object's deformation behavior in an offline constant Jacobian matrix. To derive this Jacobian, we use geometric deformation modeling and combine recent work from the fields of deformable object control and multirobot systems. Based on this Jacobian, we then propose a robotic control law that is capable of driving a set of shape features on the object toward prescribed values. Our contribution relative to existing approaches is that at run-time we do not need to measure the full shape of the object or to estimate/simulate a deformation model. This simplification is achieved thanks to having abstracted the deformation behavior as an offline model. We illustrate the proposed approach in simulation and in experiments with real deformable linear objects.
Control of a Minimally Actuated Biomimetic Vehicle Using Quarter-Cycle Wingbeat Modulation

This paper describes a technique, called quarter-cycle constant period frequency modulation, to control the motion of wings on a flapping wing micro-air vehicle. This technique allows control over the wingbeat period and three additional points (the two zero crossings and the reversal of wing direction) within a single wingbeat cycle, allowing modulation of the wing’s velocity to provide direct control over six degrees of freedom of overall vehicle motion. Using a blade element based aerodynamic model, both instantaneous and cycle-averaged forces and moments are analytically computed for a specific type of wingbeat motion that enables nearly decoupled, multi-degrees of freedom control of an aircraft. Wing motion is controlled using oscillators whose frequencies and three additional parameters change once per wingbeat cycle. A control oriented dynamic model of the vehicle is derived, which is based on a cycle-averaged representation of the forces and moments, and control derivatives are calculated. A cycle.
Origami Robot Self-folding by Magnetic Induction

Inspired by the traditional art of paper folding, origami, autonomous production of 3D structures from 2D sheets can be achieved by the implementation of self-folding techniques. One technique to achieve such transformation is the usage of thermo-responsive smart materials such as self-folding polymeric films, which can be controlled by heat to shrink. Achieving remote self-folding with a practical approach remains a major challenge due to the requirement for specific environments, or having to accompany electronics on origami, which limits the complexity of the origami design. In this paper, we present a wireless method to trigger the thermo-responsive self-folding process of the origami robots through magnetic induction. The proposed method is applicable for all electrically conductive materials and can wirelessly fold a mobile origami robot with a size of 32 × 30 mm2. This method eliminates the need for inclusion of electronics on the origami or usage of complicated trigger methods and environmental conditions, allowing the robot to fold in a wider range of applications such as in constrained spaces.
Relative importance of phonon scattering to carrier mobility in Si surface layer at room temperature

The room‐temperature surface mobility of free carriers in metal‐oxide‐semiconductor systems has not been satisfactorily explained by treating phonons as the only important scattering mechanism. The present work shows that, in addition to phonon scattering, both Coulombic and surface‐roughness scattering must be taken into account. Experimental results are presented showing that, contrary to the prediction of phonon scattering, surface mobility is process dependent, and that a strong correlation is observed between the detailed mobility behavior and the surface‐state density and the degree of surface roughness. A theoretical calculation of surface mobility, based on the combined effect of scattering due to phonons, charged centers, and surface roughness, is also presented.
Ustekinumab is associated with superior treatment persistence but not with higher remission rates versus vedolizumab in patients with refractory Crohn’s disease: results from a multicentre cohort study

Background: Treatment with antitumor necrosis factor alpha (anti-TNF-α) is safe and effective as first-line therapy; however, its efficacy is limited due to primary nonresponse (PNR) and secondary loss of response (LOR), resulting in treatment discontinuation in approximately 40%–50% of cases. Vedolizumab (VDZ) and ustekinumab (UST) therapies could be good alternatives in patient with anti-TNF failure; however, no head-to-head randomized comparison of these drugs as second- or third-line treatments has been made. Objectives: This study aimed to assess the treatment persistence and comparative effectiveness of UST and VDZ in patients with refractory Crohn’s disease (CD). Design: In this nationwide retrospective study, patients with CD on UST or VDZ maintenance therapy were enrolled. Clinical data at baseline, after induction, and at week 52 were obtained. Methods: Clinical and biochemical activities as well as corticosteroid-free remission (SFR) rates were assessed, while concomitant medications, comorbidities, hospitalizations, and surgeries were recorded during the follow-up to detect any predictors. Results: A total of 161 UST- and 65 VDZ-treated patients completed the follow-up. No significant difference in clinical or biochemical remission rates was observed after induction between the two treatment groups; however, clinical remission rate at week 52 was higher in UST group. UST showed superior drug persistence than VDZ (86.5%, 57.9%, p < 0.0001). The drug type was predictive of clinical SFR at week 52 [p = 0.011, odds ratio (OR) = 2.39 with UST]. Drug failure rates were higher for VDZ than those for UST (PNR rates: 21.54% and 4.97%, respectively, p < 0.001, OR = 8.267, p = 0.001). LOR and escalations were more common during UST treatment (61.5% versus 36.9%, p < 0.001; 64.2% versus 23.1%, p < 0.001). Hospital and surgical admission rates did not differ significantly. Only one adverse event occurred with VDZ at week 20, which led to drug cessation. Conclusions: VDZ and UST were safe and effective for treating patients with CD in whom anti-TNF therapy failed. UST showed superior drug persistence than VDZ, but dose escalation was more frequent. Biologicals used in lower treatment lines resulted in better drug persistence.
AutoMap: Automatic Mapping of Neural Networks to Deep Learning Accelerators for Edge Devices

Emerging deep neural networks (DNNs) have been emerging in applications (object detection, automatic speech recognition, etc.) deployed on edge devices. To improve the energy efficiency of edge devices, domain-specific deep learning accelerators (DLAs) are designed with limited on-chip resources. The manifold DLA designs and evolving DNN topologies bring challenges for applications mapping and scheduling on hardware resources. In this article, we propose an automatic DNN mapping framework named AutoMap, given the hardware backend information. First, a computational graph representation called extended directed weighted graph (EDWG) is proposed, which realizes unified expression for both spatial and temporal network interlayer connections. Second, an associated partitioner is implemented for splitting an EDWG into subEDWGs, which incorporates the on-chip memory constraint and facilitates weight data reuse on chip. Finally, a dynamic memory allocation strategy is utilized to alleviate the feature storing burden introduced by the multivarious network sizes and connections. Compared to the baseline mapping methods, experimental results show that our proposed automatic mapping framework can help to speedup the execution of several DNNs on state-of-the-art DLAs, ranging from $1.27\times $ to $3.45\times $ . The utilization of the PE array can increase from 20% to 64%.
METHODOLOGY FOR CALCULATING THE COST PRICE OF THE BENDING PROCESS FOR THE NEEDS OF MANUFACTURING LOGISTICS

The research of this paper aims to characterize and describe the methodological sequence of operations necessary for the correct calculation of the cost price when performing a bid calculation in the bending process step on a bending machine. The research focuses on determining the methodology and its application exclusively to sheet metal parts in the engineering industry in the processing of steel and stainless-steel sheets. To research this issue, we used empirical and quantitative research in a real work environment. The methodology for calculating the cost price of bending sheet metal parts yields the relationships between component inputs, the result of which is a time parameter that is expressed by the actual production costs. The results can be used in the real working environment of manufacturing companies for comparison with already established practices and a verification of their outputs. At the same time, it is possible to use the determined methodological procedure as a basis for implementation in the Aurendi web application.
The evolution and stability of quantum correlations in dissipative cavity

We investigate the dynamics of quantum correlations such as entanglement and quantum discord between two atoms in a lossy cavity. It is found that a stable quantum discord could be induced even when the atoms remain separable at all times. Also, we show that it is possible to amplify and protect the quantum discord under cavity decay for certain types of initial states. Moreover, entanglement decoherence-free subspaces are obtained which may be useful in quantum information and quantum computation.
Online Learning Feedback Control Considering Hysteresis for Musculoskeletal Structures

While the musculoskeletal humanoid has various biomimetic benefits, its complex modeling is difficult, and many learning control methods have been developed. However, for the actual robot, the hysteresis of its joint angle tracking is still an obstacle, and realizing target posture quickly and accurately has been difficult. Therefore, we develop a feedback control method considering the hysteresis. To solve the problem in feedback controls caused by the closed-link structure of the musculoskeletal body, we update a neural network representing the relationship between the error of joint angles and the change in target muscle lengths online, and realize target joint angles accurately in a few trials. We compare the performance of several configurations with various network structures and loss definitions, and verify the effectiveness of this study on an actual musculoskeletal humanoid, Musashi.