bluuebunny/crossref_metadata_2025_split huggingface dataset:
Flexible control of quadruped robot joints based on external force estimation
Authors: Wu Hongbo , Song Meili , Zhou Shouqiang , Ouyang Haonan , Cheng Zheng 
Published: December 2024

Abstract
Aiming at the requirements of quadruped robots for mobile flexibility and stability, a quadruped robot single-leg flexibility control strategy based on the estimation of external force is carried out to realize the high-performance dynamic interaction of the robot’s position and force during the movement process. Firstly, the torque of the motor is modeled into a simpler form. The robot single-leg dynamics model is established, and the established dynamics model and current feedback value are used to estimate the change of the robot joint force during the action of the external force; finally, based on the estimated robot joint torque, the position-based impedance control is designed to make the robot foot end in flexible contact with the environment, and at the same time to ensure the accuracy of the robot foot end trajectory tracking. Simulation is carried out by Adams-Matlab/Simulink to verify the correctness of the theoretical model. The foot-end trajectory tracking experiments on a single leg going up a staircase are carried out to verify the validity of the single-leg supple-control method based on the estimation of the external force, which is widely applicable compared with the traditional active supple-control method because it does not require additional sensors, is inexpensive, and does not reduce the rigidity of the robot itself.
Hysteresis moment precision compensation of spindle system in vertical composite machining machine tool
Authors: Wang Shaocun , Ning Tingzhou 
Published: December 2024

Abstract
To effectively improve the precision compensation and rigidity, according to the structural characteristics of vertical composite machining machine tools, the hysteresis moment precision compensation method was proposed. By optimizing the constrained position, the precision of non-structural geometric changes was effectively compensated. The hysteresis moment precision compensation method proposed in this paper can be well adapted to the micron precision compensation design of machine tools.
Design of paddy bionic hexapod self-propelled platform
Authors: Zhang Ni , Gong Yuemin , Wang Xuezhi , Bo Huijuan , Tang Nanrui 
Published: December 2024

Abstract
In order to realize the unmanned operation of spraying and material transportation in small-scale paddy fields, a hexapod self-propelled platform adapted to the paddy field environment was designed. It was mainly composed of a platform body and swinging leg. The leg swing structure was a three-degree-of-freedom mechanism with the steering gear as the original motive part. The leg support vibration reduction device was designed to adapt to the complex paddy field environment. The degree of freedom of the swing leg was calculated, and the coordinate system was established for kinematic analysis. The reliability of mechanical structure was verified by finite element analysis of key components. The kinematics simulation analysis of the two gait modes was carried out based on ADAMS. The relation curve of time and displacement and the translation kinetic energy diagram of the mechanism motion were obtained, and the motion mode was determined to be the three-legged gait in line. The software and hardware of the control system were designed based on the STM32 microcontroller, and the gait program of three legs was written. The prototype was trial-produced and tested, and the experiment results showed that the leg movement of the prototype was normal, and the straight-line walking speed was 30mm√s−1. The bionic hexapod self-propelled platform can provide a reference for the design of walking equipment in small-scale paddy field environments.
Design and evaluation of reusable materials-based aerobic composter for domestic organic waste management
Authors: Jihad Akmal , Arif Chusnul 
Published: December 2024

Abstract
In 2023, Organic waste was the largest contributor to the composition of waste in Indonesia. To address this issue, an efficient domestic-scale organic waste management system, such as composting, is required. This study aims to design and test aerobic composters made from reusable materials with various decomposer agents: BSF larvae treatment (P1 and P2), EM4 treatment (P3 and P4), and control (P5). Shredding of organic waste was also done for P1 and P3. The P1 composter showed the best results in organic waste bioconversion, with the most significant changes in waste weight, the highest temperature increase, and the lowest odor emissions. This treatment had the highest reduction value (D) and waste reduction index (WRI), with 95.73% and 3.19%/day. The solid compost testing results showed that all treatments met the requirements set forth in the Regulation of the Minister of Agriculture Number 261 in 2019. The leachate test results did not meet the quality standards requirement.
Reliability analysis of rainwater harvesting system for crop water supply in greenhouse
Authors: Sirait S , Suhardiyanto H , Saptomo S K , Liyantono  
Published: December 2024

Abstract
Climate change has an impact on the scarcity of sustainable water sources for plant water supply in a greenhouse. In the dry season, the availability of groundwater and surface water sources is insufficient to supply the crop water requirements. Adequate and consistent water supply is crucial to support the optimal growth and production of plants in a greenhouse. Rainwater harvesting can be an important alternative to mitigate water scarcity, reduce groundwater exploitation, and preserve environmental sustainability. This study investigates the reliability of rainwater harvesting from greenhouse roofs to supply the water demands of vegetable crops cultivated in the greenhouse surface area. The analysis was conducted based on rainfall depth values of a 20-year time series (2004-2023) from a representative rainfall station of the study area. The rainwater harvesting in the greenhouse can produce a capture volume of 25.43 m3 (227.02 L/m2) with a cumulative capture volume of 2116.72 m3 and 20.07 m3 (179.19 L/m2) with a cumulative capture volume of 1643.82 m3, represents a mean monthly rainfall of 283.78 mm and a dependable rainfall with an 80% probability of 223.98 mm, respectively. The reliability of the rainwater harvesting system can fully supply the water needs of the vegetables-cucumber family, small vegetables, roots and tubers, and vegetables-solanum family, reaching 2.81 L/m2.day, 2.95 L/m2.day, 3.09 L/m2.day, and 3.23 L/m2.day, respectively. The average surplus of 18.91 m3 was produced in the design based on the mean monthly rainfall depth and 13.55 m3 in the dependable rainfall depth of 80% probability.
Physico-chemical properties and the stable isotope composition of groundwater in Mandalika and its surrounding, West Nusa Tenggara, Indonesia
Authors: Irfaudin M , Putra D P E , Taufiq A. 
Published: December 2024

Abstract
Groundwater is a very important source of clean water in coastal areas such as the Mandalika area, Central Lombok Regency, and its surroundings. The Mandalika area is one of the special economic zones in Indonesia, and it is a world-class tourist destination. However, in terms of hydrogeology conditions, Mandalika is located in a poorly productive aquifer area. Therefore, it is necessary to identify the quality and existence of groundwater. The objective of this study is to assess the viability of groundwater as a source of clean water by analyzing its physico-chemical properties. Additionally, the study intends to pinpoint the origin of groundwater sources by examining stable isotopes of hydrogen (δ2H) and oxygen (δ18O). In order to achieve the objectives, a campaign of water sampling was conducted on several springs, drill wells, and also rainwater at different elevations. As a result, the range of physico-chemical characteristics of groundwater found with temperature values 30.60 °C-31.80 °C, pH 6.50-7.11, Total dissolved solids (TDS) 393.00 mg/L-1,384.00 mg/L, and Electric Conductivity (EC) of 789.00 μS/cm-2,780.00 μS/cm. Most of the groundwater samples collected met the drinking water criteria. According to isotope data, all groundwater samples are estimated to come from meteoric water and originated from a recharge area, which is located at an elevation of 15-285 masl. Based on these results. It can be concluded that groundwater is actually a potential source of clean water supply in this area, and research on the potential of groundwater quantity is urgently needed.
Euler constants from primes in arithmetic progression
Authors: Languasco Alessandro , Moree Pieter 
Published: December 2024

Many Dirichlet series of number theoretic interest can be written as a product of generating series

ζ

d
,
a

(
s
)
=

∏

p
≡
a

(

m
o
d

d
)

(
1
−

p

−
s

)

−
1

\zeta _{\,d,a}(s)=\prod \limits _{p\equiv a\ (\mathrm {mod}\ d)}(1-p^{-s})^{-1}

, with

p
p

ranging over all the primes in the primitive residue class modulo

a

(

m
o
d

d
)

a\ (\mathrm {mod}\ d)

, and a function

H
(
s
)

H(s)

well-behaved around

s
=
1

s=1

. In such a case the corresponding Euler constant can be expressed in terms of the Euler constants

γ
(
d
,
a
)

\gamma (d,a)

of the series

ζ

d
,
a

(
s
)

\zeta _{\,d,a}(s)

involved and the (numerically more harmless) term

H
′

(
1
)

/

H
(
1
)

H’(1)/H(1)

. Here we systematically study

γ
(
d
,
a
)

\gamma (d,a)

, their numerical evaluation and discuss some examples.
Choreographing Nature
Authors: Ross Janice 
Published: December 2024

Abstract
This chapter explores the impact on contemporary dance and urban design of the wooden deck in the Halprin backyard. The most famous feature of the property, this redwood platform below the Halprin home is where thousands of dancers from around the world came to study and perform with Anna. The deck is reframed as a radically new theater codesigned by theater designer Arch Lauterer and Larry and integrated into the landscape. The deck became not just background but context for dance as it intersected with the postwar American cult of the body, modernist architecture, natural living, and sexual liberation. Anna’s The Bath and the undressing section of Parades and Changes as well as Larry’s Donell Gardens are highlighted from this fresh perspective of the confluence of domestic nudity, Cold War suburban culture, and the newly unembellished body germinated on the dance deck.
Expanding Home
Authors: Ross Janice 
Published: December 2024

Abstract
The final chapter traces how in 1964, a decade of lessons from the Halprins’ suburban Marin home expanded onto the 5,200-acre stage of rugged Northern California coast, The Sea Ranch, the site of their vacation home. A unique development that Larry helped mastermind, The Sea Ranch vision united architecture, environment, and collectivity under the umbrella that “landscape would be the dominant influence.” A rural version of their Marin home, the Halprin house at The Sea Ranch was their base for creative work and two influential dance and architecture summer workshops, Experiments in Environment. As Larry took direction from the found landscape, Anna was similarly retreating from received dance techniques and advancing toward dance as an exploration of human nature told through a movement vernacular of everyday tasks. Key Halprin creative techniques are revisited including processionals and dance sited in nature in Awaken, Anna’s series of Auguste Rodin–inspired studies.
Prospective evaluation of a residency preparation checklist for PGY1 match success
Authors: Isaacs Alex N , Linn Dustin D , Saum Lindsay M , Miller Miller L , Richardson Elizabeth , Li Yitao , Beckett Robert D 
Published: December 2024

Abstract

Purpose
The study objective was to determine whether scores on a residency preparation checklist differed for student pharmacists who matched with a postgraduate year 1 (PGY1) residency program and those who did not match.

Methods
This was a multicenter, cross-sectional study with a voluntary survey administered before Match Day, between March 1 and 15, 2022, to student pharmacists in their final year of pharmacy school. Participants were from 3 institutions in Indiana. The survey consisted of 4 demographic items and the 33 items from a previously validated residency preparation checklist. Match data were obtained from each institution’s administration and paired with survey results, and the data were then deidentified. The primary endpoint analyzed was the overall score for matched vs unmatched students, with secondary endpoints evaluating association of individual checklist items with matching through univariate analysis and forward logistic regression.

Results
A total of 111 student pharmacists applying to residency programs completed at least part of the survey (72.5% response rate). Of these students, 95 (85.6%) matched during phase I or phase II. Students who matched had a median checklist score of 24, which was significantly higher than the score for students who did not match (median checklist score of 20). The median checklist score was also significantly higher in students offered interviews at 50% or more of the programs to which they applied in phase I than in participants who were offered interviews at less than 50% of programs. In the univariate analysis, 9 checklist items were significantly different for matched vs unmatched participants.

Conclusion
A prospective evaluation of a validated residency checklist determined that candidates who matched with a PGY1 pharmacy residency program had a significantly higher score than those who did not. This tool can be used by pharmacy residency candidates and mentors throughout pharmacy school to help prepare for successful placement in a PGY1 pharmacy residency program.
Panfacial Approach to Rejuvenation Using Calcium Hydroxylapatite (CaHA): A Case Series Illustrating CaHA Versatility Through Dilution and a Multilayered Treatment Approach
Authors: Green Jeremy B , Biesman Brian S , Hill David A , Kwok Gideon P , Levin Melissa , Sergeeva Danielle 
Published: December 2024

Abstract

Background
Dermal fillers can be used in a wide range of applications. While the versatility of hyaluronic acid fillers stems from the wide array of available products, for the biostimulatory filler calcium hydroxylapatite (CaHA), dilution can be used to control product volumizing capacity and flow properties, facilitating use for panfacial rejuvenation.

Objectives
To share case studies illustrating how CaHA at various dilutions can be used to achieve global aesthetic improvement as part of a multilayered approach to rejuvenation.

Methods
As part of a continuing medical education activity, the authors treated patients with 1 to 3 sessions of CaHA at various dilutions. Six months after the patients’ initial treatments, the authors reconvened to share their experiences and patient results. Select case studies are presented.

Results
While undiluted product can be used to provide deeper volume and structural support in areas like the chin, jawline, and temples, more dilute product (1:1 and 1:2) can be used to provide some volume and/or smooth transitions in the face, while hyperdilute CaHA can be used over an even wider surface area in the face, neck, or décolletage to tighten skin and improve skin quality (1:3 and 1:4 dilutions). In the cases presented, patients achieved improvement in appearance through treatment with multiple dilutions of CaHA.

Conclusions
These cases provide several examples of how CaHA may be used as part of a multilayered approach to facial rejuvenation.
Understanding relationships between epigenetic marks and their application to robust assignment of chromatin states
Authors: Murgas Leandro , Pollastri Gianluca , Riquelme Erick , Sáez Mauricio , Martin Alberto J M 
Published: December 2024

Abstract
Structural changes of chromatin modulate access to DNA for the molecular machinery involved in the control of transcription. These changes are linked to variations in epigenetic marks that allow to classify chromatin in different functional states depending on the pattern of these histone marks. Importantly, alterations in chromatin states are known to be linked with various diseases, and their changes are known to explain processes such as cellular proliferation. For most of the available samples, there are not enough epigenomic data available to accurately determine chromatin states for the cells affected in each of them. This is mainly due to high costs of performing this type of experiments but also because of lack of a sufficient amount of sample or its degradation. In this work, we describe a cascade method based on a random forest algorithm to infer epigenetic marks, and by doing so, to identify relationships between different histone marks. Importantly, our approach also reduces the number of experimentally determined marks required to assign chromatin states. Moreover, in this work we have identified several relationships between patterns of different histone marks, which strengthens the evidence in favor of a redundant epigenetic code.
PheWAS analysis on large-scale biobank data with PheTK
Authors: Tran Tam C , Schlueter David J , Zeng Chenjie , Mo Huan , Carroll Robert J , Denny Joshua C 
Published: December 2024

Abstract

Summary
With the rapid growth of genetic data linked to electronic health record (EHR) data in huge cohorts, large-scale phenome-wide association study (PheWAS) have become powerful discovery tools in biomedical research. PheWAS is an analysis method to study phenotype associations utilizing longitudinal EHR data. Previous PheWAS packages were developed mostly with smaller datasets and with earlier PheWAS approaches. PheTK was designed to simplify analysis and efficiently handle biobank-scale data. PheTK uses multithreading and supports a full PheWAS workflow including extraction of data from OMOP databases and Hail matrix tables as well as PheWAS analysis for both phecode version 1.2 and phecodeX. Benchmarking results showed PheTK took 64% less time than the R PheWAS package to complete the same workflow. PheTK can be run locally or on cloud platforms such as the All of Us Researcher Workbench (All of Us) or the UK Biobank (UKB) Research Analysis Platform (RAP).

Availability and implementation
The PheTK package is freely available on the Python Package Index, on GitHub under GNU General Public License (GPL-3) at https://github.com/nhgritctran/PheTK, and on Zenodo, DOI 10.5281/zenodo.14217954, at https://doi.org/10.5281/zenodo.14217954. PheTK is implemented in Python and platform independent.
Ecogeographic body size clines in turtles: analysis and synthesis of pattern and process
Authors: Yang Celina , Iverson John B , Ennen Joshua R , Rollinson Njal 
Published: December 2024

Abstract
The mechanisms underpinning the evolution of ectotherm body size across temperature and latitude remain an enduring mystery. Oxygen limitation in warmer aquatic environments is often invoked to explain steeper temperature–size relationships of aquatic species across latitude, but the role of aquatic environments on body size evolution of aquatic species that respire primarily in air is unclear. We tested the generality of intraspecific temperature–size responses in Testudines, assessing whether turtles generally follow Bergmann’s Rule, and whether aquatic versus terrestrial turtles exhibit different temperature–size responses. Using a global dataset of turtle body sizes, we found that turtles generally show decreasing body size with increasing temperature. However, we also found that aquatic, semi-aquatic, and terrestrial turtles respond similarly to temperature. Our study affirms the possibility that temperature–size relationships are driven partly by oxygen limitation in other ectotherms, but casts doubt on hypotheses related to oxygen limitation for groups that respire primarily in air. We formalize and explore a hypothesis that temperature–size responses in turtles are a result of heat balance, arguing small size in warm environments reduces overheating risk, and large size in cool environments minimizes heat loss. Ultimately, we provide new insight and direction in the study of ecogeographic clines.
“Life” as a Dynamic Supramolecular System Created Through Constructive Approach
Authors: Sugawara Tadashi , Matsuo Muneyuki , Toyota Taro 
Published: December 2024

Abstract
Life can properly respond to external stimuli. This is because life is constructed by individual components (molecules and macromolecules) and responds to the external environment autonomously as a system, through interactions between components, converting energy, and information. This response contrasts with matter, which responds directly to external fields (heat, electric or magnetic fields, light, etc.). Life self-reproduces by converting ingested essential nutrients for self-reproduction and moves to safe and nourished areas. Life also possesses information molecules and propagates the information to its offspring. In this repeatable process, individuals possessing traits adaptable to their environment become the dominant species through natural selection, leading to evolution. We believe that even such a sophisticated life can be constructed as a dynamic supramolecular system by assembling characteristic molecules and macromolecules. This review shows how giant vesicles, self-assemblies of amphiphilic molecules, self-reproduce as primitive model protocells, expressing life-like features by incorporating new components, and eventually evolve into the ultimate artificial cell model.
Optimal control of day-to-day traffic dynamics under user learning with dynamic congestion pricing
Authors: Li Lu , Xiao Feng , Lu Jiaming , Zhong Shaopeng 
Published: December 2024

Abstract
A continuous day-to-day dynamic traffic assignment model is proposed in this study, where several typical day-to-day models are integrated into a more general form. The effects of past information on travelers’ routing behavior are characterized by the second-order derivatives of the traffic flow. Thereupon, the day-to-day dynamic takes the form of a second-order nonhomogeneous ordinary differential equation with constant coefficients. We prove that the dynamical process is globally asymptotically stable at the user equilibrium with the existence of travelers’ route-swapping behavior. Moreover, we prove that there always exists a limited time point, after which the nonnegative flows can be guaranteed in the proposed model. The optimal control of the system is realized by utilizing dynamic congestion pricing. Different optimization objectives are investigated, including cost, time, revenue, and combined minimizations. Necessary conditions for optimal congestion prices are analyzed to uncover the bang-bang charging strategy. Numerical examples are provided to illustrate the trajectory of the flow evolution under the optimal control.
Using multilateral instruments to preserve a bilateral system
Authors: Baker Philip 
Published: December 2024

Abstract
This short article is designed to introduce those who are not especially familiar with international tax law to the dominance of bilateral tax treaties and the relatively rare use of multilateral instruments. The network of over 3500 bilateral treaties adds to the complexity of the international tax system. Bilateral instruments have dominated the international tax world for over a century, while multilateral instruments have been somewhat less successful. There has been something of a move in recent years from bilateralism towards multilateralism. A novel feature has been the use of multilateral instruments to preserve the bilateral nature of the international tax system. This article provides a limited explanation of the background. It does not seek to engage in the academic discourse on bilateralism versus multilateralism other than to provide a perspective from the point of view of international taxation.