bluuebunny/crossref_metadata_2025_split huggingface dataset:
An insect-scale robot reveals the effects of different body dynamics regimes during open-loop running in feature-laden terrain
Authors: Schiebel Perrin E , Shum Jennifer , Cerbone Henry , Wood Robert J 
Published: December 2021

Abstract
The transition from the lab to natural environments is an archetypal challenge in robotics. While larger robots can manage complex limb–ground interactions using sensing and control, such strategies are difficult to implement on small platforms where space and power are limited. The Harvard Ambulatory Microrobot (HAMR) is an insect-scale quadruped capable of effective open-loop running on featureless, hard substrates. Inspired by the predominantly feedforward strategy of rapidly-running cockroaches on uneven terrain (Sponberg, 2007), we used HAMR to explore open-loop running on two 3D printed heterogeneous terrains generated using fractional Brownian motion. The ‘pocked’ terrain had foot-scale features throughout while the ‘jagged’ terrain features increased in height in the direction of travel. We measured the performance of trot and pronk gaits while varying limb amplitude and stride frequency. The frequencies tested encompassed different dynamics regimes: body resonance (10–25 Hz) and kinematic running (30–40 Hz), with dynamics typical of biological running and walking, respectively, and limb-transmission resonance (45–60 Hz). On the featureless and pocked terrains, low mechanical cost-of-transport (mCoT) kinematic running combinations performed best without systematic differences between trot and pronk; indicating that if terrain features are not too tall, a robot can transition from homo-to heterogeneous environments in open-loop. Pronk bypassed taller features than trot on the jagged terrain, and higher mCoT, lower frequency running was more often effective. While increasing input power to the robot improved performance in general, lower frequency pronking on jagged terrain allowed the robot to bypass taller features compared with the same input power at higher frequencies. This was correlated with the increased variation in center-of-mass orientation occurring at frequencies near body resonance. This study established that appropriate choice of robot dynamics, as mediated by gait, frequency, and limb amplitude, can expand the terrains accessible to microrobots without the addition of sensing or closed-loop control.
A model-based strategy for quadruped running with differentiated fore- and hind-leg morphologies
Authors: Tseng Kuan-Yu , Lin Pei-Chun 
Published: December 2021

Abstract
This article introduces a model-based strategy for a quadruped robot with differentiated fore- and hind-leg ground reaction force patterns to generate animal-like running behavior. The proposed model comprises a rigid body and two eccentric spring-loaded inverted pendulum (eSLIP) legs with dampers. The eSLIP model extends the traditional SLIP model by adding a bar to offset the spring direction. The proposed two-leg eSLIP (TL-eSLIP) model’s fore- and hind legs were designed to have the same offset magnitude but in opposite offset directions, producing different braking and thrusting force patterns. The TL-eSLIP model’s reference leg trajectories were designed based on the fixed-point motion of the eSLIP model. Additionally, the legs were clock torque-controlled to modulate leg motion and stabilize the model to follow its natural dynamics. The model’s equations for motion were derived, and the model’s dynamic behavior was simulated and analyzed. The simulation results indicate that the model with leg offsets and in either trotting or pronking has differentiated leg force patterns, and it is more stable and has larger basins of attraction than the model without leg offsets. A quadruped robot was built for experimental validation. The experimental results demonstrate that the robot with differentiated legs ran with differentiated ground reaction force patterns and ran more stably than another robot with the same leg morphology.
A straightforward and miniature implementation method of postural synergies to replicate human grasp characteristics accurately and intuitively
Authors: Liu Yuan , Jiang Li , Liu Hong , Ming Dong 
Published: December 2021

Abstract
Postural synergies have great potential for replicating human grasp characteristics, simplify grasp control and reduce the number of hardware actuators required. However, due to their complex mapping relationship and jagged transmission ratio, the implemented mechanisms are always too bulky and loose, which greatly limits their application. With current solutions, the replication accuracy of motion characteristics or intuitive control is compromised, and hitherto no work in the literature has reported the replication errors. To overcome these limitations, we present a novel design framework to determine the actuation configuration, implementation scheme and physical parameters. In this way, the mechanism is miniaturized and can be compactly embedded in the palm of the hand. A self-contained synergistic robot hand with integrated mechanism, sensors and a suitable electrical system is built. The experiments demonstrate that the robot hand can accurately replicate the motion characteristics of two primary synergies, maintain intuitive control to simplify grasp control, has a good capability for anthropomorphic motion and can grasp different objects with versatile grasp functionality.
The potential of seaweed cultivation to achieve carbon neutrality and mitigate deoxygenation and eutrophication
Authors: Gao Guang , Gao Lin , Jiang Meijia , Jian Ao , He Linwen 
Published: December 2021

Abstract
Carbon neutrality has been proposed due to the increasing concerns about the consequences of rising atmospheric CO2. Previous studies overlooked the role of lost particle organic carbon (POC) and excreted dissolved organic carbon (DOC) from seaweed cultivation in carbon sequestration, that is to say, long term carbon storage in the oceanic sediments and in the water. This study assessed the potential of seaweed cultivation to achieve carbon neutrality of China by 2060 using a new method that included lost POC and excreted DOC. Based on the seaweed production in the years 2015–2019 in China, harvested seaweed removed 605 830 tonnes of carbon, 70 615 tonnes of nitrogen and 8 515 tonnes of phosphorus from seawaters annually; farmed seaweed sequestrated 344 128 tonnes of carbon and generated 2533 221 tonnes of oxygen annually. Among the seven farmed seaweeds, Gracilariopsis lemaneiformis has the highest capacities for carbon removal (9.58 tonnes ha−1 yr−1) and sequestration (5.44 tonnes ha−1 yr−1) and thus has the smallest cultivation area required to sequestrate 2.5 Gt CO2 that is annually required to achieve China’s carbon neutrality goal by 2060. The O2 generated by seaweed cultivation could increase dissolved oxygen in seawaters (0–3 m deep) by 21% daily with gas exchange excluded, which could effectively counteract deoxygenation in seawaters. Gracilariopsis lemaneiformis also has the highest N removal capacity while Saccharina japonica has the highest P removal capacity. To completely absorb the N and P released from the fish mariculture, a production level or a cultivation area two and three times larger (assuming productivity remains unchanged) would be required. This study indicates that seaweed cultivation could play an important role in achieving carbon neutrality and mitigating deoxygenation and eutrophication in seawaters. Cultivation cost could be offset to some extent by increased sales of the harvest parts of the seaweed for food and biofuel.
What influences the implementation of natural climate solutions? A systematic map and review of the evidence
Authors: Schulte Ingrid , Eggers Juliana , Nielsen Jonas Ø , Fuss Sabine 
Published: December 2021

Abstract
Emergingresearch points to large greenhouse gas mitigation opportunities for activities that are focused on the preservation and maintenance of ecosystems, also known as natural climate solutions (NCS). Despite large quantifications of the potential biophysical and carbon benefits of these activities, these estimates hold large uncertainties and few capture the socio-economic bounds. Furthermore, the uptake of NCS remains slow and information on the enabling factors needed for successful implementation, co-benefits, and trade-offs of these activities remain underrepresented at scale. As such, we present a systematic review that synthesizes and maps the bottom-up evidence on the contextual factors that influence the implementation of NCS in the peer-reviewed literature. Drawing from a large global collection of (primarily case study-based, N = 211) research, this study (1) clarifies the definition of NCS, including in the context of nature-based solutions and other ecosystem-based approaches to addressing climate change; (2) provides an overview of the current state of literature, including research trends, opportunities, gaps, and biases; and (3) critically reflects on factors that may affect implementation in different geographies. We find that the content of the reviewed studies overwhelmingly focuses on tropical regions and activities in forest landscapes. We observe that implementation of NCS rely, not on one factor, but a suite of interlinked enabling factors. Specifically, engagement of indigenous peoples and local communities, performance-based finance, and technical assistance are important drivers of NCS implementation. While the broad categories of factors mentioned in the literature are similar across regions, the combination of factors and how and for whom they are taken up remains heterogeneous globally, and even within countries. Thus our results highlight the need to better understand what trends may be generalizable to inform best practices in policy discussions and where more nuance may be needed for interpreting research findings and applying them outside of their study contexts.
Optimizing efforts to restore aquatic ecosystem connectivity requires thinking beyond large dams
Authors: Baumgartner Lee J , Marsden Tim , Duffy Deanna , Horta Ana , Ning Nathan 
Published: December 2021

Abstract
Infrastructure-induced fragmentation of riverine ecosystems has engendered the need for more effective aquatic restoration efforts globally. Fragmentation assessments have been extensively undertaken to inform connectivity restoration efforts for fish and other aquatic biota, but they have potentially underestimated the extent of fragmentation by fixating on large dams and overlooking the contribution of other barriers like road crossings and small irrigation structures. The current study addresses this limitation in Mekong region countries (MReCs) of Southeast Asia, by assessing the fragmentation impacts of road crossings and small irrigation structures together with large dams. Our analysis indicates that the basin-scale fragmentation impact of road crossings is similar to that of large dams in MReCs, while small irrigation structures actually have a far greater impact. These findings raise concerns about the real global extent of aquatic fragmentation, and highlight the need for decision-makers to think beyond dams when attempting to restore connectivity for aquatic biota.
Quantifying spatial associations between effective green spaces and cardiovascular and cerebrovascular diseases by applying volunteered geo-referenced data
Authors: Cao Zheng , Wu Zhifeng , Guo Guanhua , Ma Wenjun , Wang Haiyun 
Published: December 2021

Abstract
Among the top public health risks, cardiovascular and cerebrovascular diseases cause more than 1 million deaths annually globally. Due to the calming effect of green spaces and their ability to trap air pollutants, urban green spaces are considered have close associations with cardiovascular and cerebrovascular diseases. However, ignoring the spatial heterogeneity of different urban green space types and considering only the configuration or compositions of urban green spaces has resulted in inconsistent and contradictory conclusions. Therefore, by introducing Tencent urban density data, four effective green spaces (EGSs) were categorized. Category 1 EGSs, which exhibit a high increasing of visitors and areas, accounted for the smallest areal percentage (0.81%). Category 2 EGSs, which exhibit a low increasing of visiting and high increasing of areas, accounted for the highest areal percentage (42.51%). Category 3 EGSs, which exhibit a high increasing of visiting and low increasing of areas, accounted for 13.70% of the total EGS areas. Category 4 EGSs, which exhibit a low increasing of visiting and areas, accounted for 3.75% of the total EGS areas. Using a geographically weighted regression model, spatial associations between EGS and cardiovascular and cerebrovascular diseases were quantified. Consequently, these spatial associations varied among EGS types and seasons. EGS configurations (perimeters of vegetation and areas of vegetation) have a more significant association with cardiovascular and cerebrovascular diseases than the composition (normalized difference vegetation index) of EGS. Spatial associations implying stronger relationships were observed in EGS1. The strongest association was found in summer. Enlarge the coverage of evergreen vegetation in all EGS is first considered to enhance the negative association between EGS and chronic diseases. A methodology framework was provided to classify urban green space types using multi-source data. Suggestions for how to plan different urban green spaces for developing sustainable cities have been provided in this study, which offer scientific support to urban managers and planners for effective decision making.
Dynamics of a hybrid optomechanical system in the framework of the generalized linear response theory
Authors: Askari B , Dalafi A 
Published: December 2021

Abstract
In this article, the linear response of a driven-dissipative hybrid optomechanical system consisting of an interacting one-dimensional Bose–Einstein condensate to an external time-dependent perturbation is studied in the framework of the generalized linear response theory (GLRT). It is shown that the Stokes and anti-Stokes amplitudes of the optical and atomic modes of the system can be obtained through the solutions to the equations of motion of the open quantum system Green’s function predicted by the GLRT. In this way, interesting phenomena like anti-resonance and Fano resonance are described and it is shown how the atom–atom interaction affects them. Furthermore, an interpretation of the anti-resonance phenomenon is presented based on the optical spectral function and self-energy.
Geology and depth structures of the main Karatau strike-slip fault, Southern Kazakhstan
Authors: Zhemchuzhnikov V G , Sirazhev A N 
Published: December 2021

Abstract
The Main Karatau fault is a classical crustal strike-slip zone. It originated as a continental rift structure in the Late Proterozoic and had been developed incessantly for almost 1 billion years as inherited structure. The fault was subjected to polyphase deformations associated with both dextral and sinistral shifts. The Main Karatau fault crosses the Earth’s crust, including the structures of granite-metamorphic layer and granulite-basitic layer and fades without crossing the Moho discontunious. The amplitude of displacement of the Syr-Daria and Chu-Sarysu blocks relative to each other along the Main Karatau fault is estimated at approximately 200 km.
Analysis of synchronous magnetotelluric and magnetovariational regime observations for the Kentor mini test polygon
Authors: Matiukov V E , Bataleva E A 
Published: December 2021

Abstract
The paper discusses various approaches for processing and analysis of synchronous magnetotelluric and magnetovariational data obtained at the Kentor mini test polygon, which is located in the Baytic basin of the Chui region of Kyrgyzstan. The versions of noise reduction of received electromagnetic signals at the stage of robust processing are considered. The materials were processed using a remote reference technique for possible noise detection and calculate the additional components, such as a horizontal magnetic tensor for further interpretation of the obtained data. The dynamics of changes in the geoelectric cross-section for 2 sessions of researches by the tested profiles is considered.
The influence of different fly ash-cement replacement ratios on the pressure drop of a horizontal backfilling pipe
Authors: Wang D , Zhao J , Garcia-del-Real J , Mischo H 
Published: December 2021

Abstract
Fly ash (FA) is a kind of harmful by-product in thermal power generation plants, and finding a way to enhance the utility of fly ash has been widely discussed among civil engineering and mining sectors. To investigate the possible optimal ratios of replacing usually used bind agent namely Portland cement (PC) with fly ash, this paper designed different test groups with varying PC-FA replacement ratio. To identify the physical and chemical characteristics of mixing materials used to produce the backfilling slurries, a rheological experiment and X-ray diffraction test have been conducted. Rheological tests show all these three replacement ratio groups (60%, 65%, 70% respectively) are yield pseudoplastic fluid. Computational fluid dynamics as an efficient and money-saving method also has been introduced in the present research to duplicate the flow behaviors and calculate the pressure drop (PD) in the backfilling pipe circuits. The simulation results suggested that all these three RR categories experience an increasing tendency in pressure drop with increasing flow velocity, but in the velocity range of 2 m/s - 2.4 m/s, the increasing tendency is gentle until flow velocity reaches 2.6 m/s, the PD increase evidently. Furthermore, when the RR = 65%, the pressure drop is significantly lower than that of RR = 60% or RR = 70% at all the corresponding investigated flow particle sizes have significant impact on the pressure drop across a pipe and is dependent on solid fraction and flow rate and velocities. Therefore, we can conclude that a proper dosage of FA in mixing backfilling slurries can reduce pressure drop obviously and thereby decrease the expenses in bind agent. Given the FA’s significant effect on pressure drop, and comprehensive considering the backfilling capacity and backfilling cost, the combination of RR = 65% and velocity = 2.6 m/s is optimum.
Measurement and analysis of species distribution in laser-induced ablation plasma of an aluminum–magnesium alloy
Authors: WANG Junxiao , WANG Shuqing , ZHANG Lei , SU Maogen , SUN Duixiong , MIN Qi , MA Weiguang , YIN Wangbao , JIA Suotang 
Published: December 2021

Abstract
We proposed a theoretical spatio-temporal imaging method, which was based on the thermal model of laser ablation and the two-dimensional axisymmetric multi-species hydrodynamics model. By using the intensity formula, the integral intensity of spectral lines could be calculated and the corresponding images of intensity distribution could be drawn. Through further image processing such as normalization, determination of minimum intensity, combination and color filtering, a relatively clear species distribution image in the plasma could be obtained. Using the above method, we simulated the plasma ablated from Al–Mg alloy by different laser energies under 1 atm argon, and obtained the theoretical spatio-temporal distributions of Mg I, Mg II, Al I, Al II and Ar I species, which are almost consistent with the experimental results by differential imaging. Compared with the experimental decay time constants, the consistency is higher at low laser energy, indicating that our theoretical model is more suitable for the plasma dominated by laser-supported combustion wave.
Fabrication and characterization of low-sheet-resistance and stable stretchable electrodes employing metal and metal nanowire hybrid structure
Authors: Cho Hyunjoo , Chung Seungjun , Jeong Jaewook 
Published: December 2021

Abstract
Stretchable electrodes with high stretching capability and low sheet resistance were developed using a metal/silver nanowires (AgNWs)/metal hybrid structure on a poly-dimethylsiloxane substrate. A low sheet resistance around 100 mΩ square−1 was achieved using the hybrid structures of Ag/AgNWs/Ag and Cu/AgNWs/Cu electrodes. The stretching capability under single and multi-cycling strain conditions was greatly improved due the AgNWs in-between top and bottom metal electrodes. The random connection of AgNWs generates new current path over the various cracks and wavy structures of the metal electrodes, which improve the initial resistance, the stretching capability under single strain up to 16%, and the resistance stability under 100 times cycling strain for the electrodes. Using a simple resistor model, it was shown that the hybrid structure is effective to improve the stretching capability of the stretchable metal electrodes due to the random connection of AgNWs in-between the metal electrodes.
Impact of non-thermal plasma treatment on the seed germination and seedling development of carrot (Daucus carota sativus L.)
Authors: Guragain Rajesh Prakash , Baniya Hom Bahadur , Pradhan Suman Prakash , Dhungana Santosh , Chhetri Ganesh Kuwar , Sedhai Binita , Basnet Niroj , Panta Gobinda Prasad , Joshi Ujjwal Man , Pandey Bishnu Prasad , Subedi Deepak Prasad 
Published: December 2021

Abstract
Seed germination is a complicated physiological process that starts with the seed absorbing water and concludes with the radicle emerging. The kinetics and amount of water uptake by seeds are known to be influenced by both seed surface properties and the surrounding environment. As a result, altering seed surface features are linked to seed medium and is a valuable strategy for controlling seed germination. In the agricultural field, non-thermal plasma surface activation of seeds is currently being investigated as an efficient pre-sowing treatment for modifying seed germination. The impact of non-thermal plasma (NTP) on the germination and seedling growth of carrot seeds at room temperature and atmospheric pressure for varied treatment times was investigated in this study. Seed’s germination properties and growth parameters were examined for both control and NTP-treated seeds. Germination-related parameters such as germination percentage, vigor index, and chlorophyll content were all improved by NTP treatment. However, no significant changes were seen in the carotenoid content. Similarly, the in-vitro radical scavenging activities, total phenol, and total flavonoid contents in the seedlings were altered by NTP treatment. Our results indicate that NTP treatment has a favorable effect on carrots germination and seedling development.
Coherent states for a system of an electron moving in a plane: case of discrete spectrum
Authors: Aremua Isiaka , Gouba Laure 
Published: December 2021

Abstract
In this work, we construct different classes of coherent states related to a quantum system, recently studied in [1], of an electron moving in a plane in uniform external magnetic and electric fields which possesses both discrete and continuous spectra. The eigenfunctions are realized as an orthonormal basis of a suitable Hilbert space appropriate for building the related coherent states. These latter are achieved in the context where we consider both spectra purely discrete obeying the criteria that a family of coherent states must satisfy.