bluuebunny/crossref_metadata_2025_split huggingface dataset:
Automated Quantum Entanglement and Cryptography for Networks of Robotic Systems
Authors: Khoshnoud Farbod , Ghazinejad Maziar 
Published: November 2021

Abstract
In this paper the procedure for automating the photon quantum experiments for mobile robotic applications is presented. Due to the rapid advances of quantum technologies and quantum engineering, the integration of quantum capabilities in robotic and autonomous systems will be inevitable, and therefore the study and investigation of compatibility and adaptability of quantum systems and classical autonomous systems is of great importance. In a quantum-classical hybrid setup, the source of single photon generation is placed on a leader robot which can send correlated single photons to robot followers. In the case of quantum entanglement, spontaneous parametric down-conversion process using nonlinear paired BBO crystals is implemented which sends entangled photons to the single photon counting modules installed on mobile robots. In the case of quantum cryptography, single photons are sent from Alice robot to Bob robot, where Alice has the course of single photon and Bob has a polarizing beamsplitter and two detectors and that can detect the polarization of photons as vertical and horizontal. Bob then can convert the polarizations to a digital signals as zeros and ones and use them as communication information for control purposes through a classical channel. Motorized optics equipment can automatically align the source of photons to detectors on the mobile robots. The automated alignment procedure is one of the key enabling technologies in integrating quantum capabilities with control of mobile robotic systems. In this paper, in particular, the automated alignment is studied while considering the uncertainties in the dynamic of the system which can potentially cause the alignment task very challenging. The uncertainty analysis in the automated alignment is implemented by Optimal Uncertainty Quantification technique to ensure achieving the quantum control of the robotic systems and presented here for the first time.
Multi-Modeshape Reservoir Computing Using a Continuous MEMS Microbeam
Authors: Hasan Mohammad H. , Alsaleem Fadi 
Published: November 2021

Abstract
Delay-based Reservoir computing (RC) offers great potential in time-series problems, especially when applied in hardware due to its low computational power and its compact nature. However, this approach suffers from a large computational delay because of the serial probing of virtual nodes. To address this disadvantage, this paper presents the use of a continuous MEMS arch for Delay-based RC. This novel approach reduces the computational delay by using fewer virtual nodes through maintaining sufficient virtual node coupling and nonlinear complexity. As a demonstration, we show that a single MEMS arch is capable of performing a binary waveform classification task of a multi-frequency square-and-triangle waveform problem with a success rate &gt; 96% using only 10 virtual nodes compared to 40 virtual nodes in a typical implementation. The reduction in the number of virtual neurons is achieved by biasing the MEMS device using an AC source around its second modeshape.
Home Energy Management System (HEMS): Coupled Flexible Load Management in Homes
Authors: Jiang Yilin , Song Li , Allen Janet K. , Mistree Farrokh 
Published: November 2021

Abstract
Electricity suppliers have introduced time-of-use (TOU) metering and pricing in residential buildings in recent years. By increasing the price of electricity during on-peak hours (e.g., 2 pm to 7 pm in summer months), suppliers expect to regulate the energy usage from homeowners when the grid is near capacity. Therefore, homeowners are motivated to shift the load by moving their home electricity use from on-peak hours to off-peak hours for utility cost savings. However, peak load management is another factor that needs to be considered, since a higher peak load might cause other penalties, such as making suppliers change their current tariff policy in the next paying period since the grid needs to fulfill a higher demand.
In this paper we explore the Home Energy Management System (HEMS) Strategy for homeowners who are considering saving money by reducing/avoiding the on-peak hour electricity usage while reducing peak load. A multi-goal scheduling problem is solved by constructing a coupled compromise decision support problem in which a water heater is coupled with flexible, non-thermal appliances such as a washing machine. To address these multiple goals, we use Decision Support Problem (DSP) construct. A use case simulation shows that our scheduler can make a reasonable tradeoff between two conflicting goals, helping the homeowner save money while maintaining low peak demand.
Fast, Accurate, and Automated 3D Reconstruction Using a Depth Camera Mounted on an Industrial Robot
Authors: Malhan Rishi , Joseph Rex Jomy , Bhatt Prahar M. , Shah Brual , Gupta Satyandra K. 
Published: November 2021

Abstract
3D reconstruction technology is used in a wide variety of applications. Currently, automatically creating accurate pointclouds for large parts requires expensive hardware. We are interested in using low-cost depth cameras mounted on commonly available industrial robots to create accurate pointclouds for large parts automatically. Manufacturing applications require fast cycle times. Therefore, we are interested in speeding up the 3D reconstruction process. We present algorithmic advances in 3D reconstruction that achieve a sub-millimeter accuracy using a low-cost depth camera. Our system can be used to determine a pointcloud model of large and complex parts. Advances in camera calibration, cycle time reduction for pointcloud capturing, and uncertainty estimation are made in this work. We continuously capture point-clouds at an optimal camera location with respect to part distance during robot motion execution. The redundancy in pointclouds achieved by the moving camera significantly reduces errors in measurements without increasing cycle time. Our system produces sub-millimeter accuracy.
Fractional-Order Impedance Control Design for Robot Manipulator
Authors: Liu Xiaolian , Wang Shaohua , Luo Ying 
Published: November 2021

Abstract
In order to make robot manipulators work more compliantly when contacting with the environment, it is necessary to reduce the contact force caused by positioning errors. One effective way to solve this problem is impedance control, which makes the robot manipulator a second-order mass-spring-damping system in principle. In this paper, a position-based fractional-order impedance control design method is proposed for the robot manipulator force control. The end-effector/environment contact model is established, and the closed-loop system is analyzed with the reference force as input. A fractional-order impedance parameters design method is proposed for better force-control performance, which calculates and optimizes parameters through frequency-domain specifications (i.e., phase margin and gain crossover frequency) and time-domain specification (i.e., the minimum JITSE). With the Robotics ToolBox for MATLAB (RTB), the performance comparison between integer-order and fractional-order impedance controls is illustrated in simulation. The fractional-order impedance control system has a faster response, smaller overshoot, and better resistance to external disturbances from the environment.
Dynamics of Dual-Cell Series Miura-Ori Structures With Different Types of Inter-Cell Connections
Authors: Zhou Hai , Wu Haiping , Xu Jian , Fang Hongbin 
Published: November 2021

Abstract
Origami-inspired structures and materials have shown remarkable properties and performances originating from the intricate geometries of folding. Origami folding could be a dynamic process and origami structures could possess rich dynamic characteristics under external excitations. However, the current state of dynamics of origami has mostly focused on the dynamics of a single cell. This research has performed numerical simulations on multi-stable dual-cell series Miura-Ori structures with different types of inter-cell connections based on a dynamic model that does not neglect in-plane mass. We introduce a concept of equivalent constraint stiffness k* to distinguish different types of inter-cell connections. Results of numerical simulations reveal the multi-stable dual-cell structure will exhibit a variety of complex nonlinear dynamic responses with the increasing of connection stiffness because of the deeper energy well it has. The connection stiffness has a strong effect on the steady-state dynamic responses under different excitation amplitudes and a variety of initial conditions. This effect makes us able to adjust the dynamic behaviors of dual-cell series Miura-Ori structure to our needs in a complex environment. Furthermore, the results of this research could provide us a theoretical basis for the dynamics of origami folding and serve as guidelines for designing dynamic applications of origami metastructures and metamaterials.
Precise and Effective Robotic Tool Change Strategy Using Visual Servoing With RGB-D Camera
Authors: Wei Danming , Trombley Christopher M. , Sherehiy Andriy , Popa Dan O. 
Published: November 2021

Abstract
In modern industrial manufacturing processes, robotic manipulators are routinely used in the assembly, packaging, and material handling operations. During production, changing end-of-arm tooling is frequently necessary for process flexibility and reuse of robotic resources. In conventional operation, a tool changer is sometimes employed to load and unload end-effectors, however, the robot must be manually taught to locate the tool changers by operators via a teach pendant. During tool change teaching, the operator takes considerable effort and time to align the master and tool side of the coupler by adjusting the motion speed of the robotic arm and observing the alignment from different viewpoints. In this paper, a custom robotic system, the NeXus, was programmed to locate and change tools automatically via an RGB-D camera. The NeXus was configured as a multi-robot system for multiple tasks including assembly, bonding, and 3D printing of sensor arrays, solar cells, and microrobot prototypes. Thus, different tools are employed by an industrial robotic arm to position grippers, printers, and other types of end-effectors in the workspace. To improve the precision and cycle-time of the robotic tool change, we mounted an eye-in-hand RGB-D camera and employed visual servoing to automate the tool change process. We then compared the teaching time of the tool location using this system and compared the cycle time with those of 6 human operators in the manual mode. We concluded that the tool location time in automated mode, on average, more than two times lower than the expert human operators.
Effect of Aerobic Walking Exercise on Stress Urinary Incontinence in Postmenopausal Women
Authors: Elbandrawy Asmaa M. , Mahmoud Sara G. , AboElinin Mohamed F. , Yousef Amel M. 
Published: November 2021

The purpose of this study was to explore the impact of aerobic walking exercise on stress urinary incontinence (SUI) among postmenopausal women. Thirty females diagnosed with SUI participated in the research. Participants were assigned randomly into two groups: The usual care group (UC) and the UC plus aerobic walking exercise (TMT) group. The UC group performed pelvic floor muscle (PFM) training only, while the TMT group performed PFM training in addition to aerobic exercise. Myomed biofeedback was used to assess the PFM strength both before and after a 12-week period. The Revised Urinary Incontinence Scale was utilized to assess changes in incontinence severity symptoms after intervention. Findings revealed a significant increase in PFM strength in both UC and TMT groups (p = .011 and p = .010, respectively) and a significant reduction in their Revised Urinary Incontinence Scale (p = .011 and p = .001, respectively) after the end of the 12 weeks of the training program. In addition, there was a more significant increase in PFM strength in the TMT group than in the UC group (p = .010) and a more significant decrease in Revised Urinary Incontinence Scale (p = .011) after 12 weeks of the training program. This study concluded that aerobic walking exercise with PFM training is more effective than PFM training only in increasing PFM strength and improving symptoms of SUI in postmenopausal women with SUI.
Implementing a Functional Precision Medicine Tumor Board for Acute Myeloid Leukemia
Authors: Malani Disha , Kumar Ashwini , Brück Oscar , Kontro Mika , Yadav Bhagwan , Hellesøy Monica , Kuusanmäki Heikki , Dufva Olli , Kankainen Matti , Eldfors Samuli , Potdar Swapnil , Saarela Jani , Turunen Laura , Parsons Alun , Västrik Imre , Kivinen Katja , Saarela Janna , Räty Riikka , Lehto Minna , Wolf Maija , Gjertsen Bjorn Tore , Mustjoki Satu , Aittokallio Tero , Wennerberg Krister , Heckman Caroline A. , Kallioniemi Olli , Porkka Kimmo 
Published: November 2021

AbstractWe generated ex vivo drug-response and multiomics profiling data for a prospective series of 252 samples from 186 patients with acute myeloid leukemia (AML). A functional precision medicine tumor board (FPMTB) integrated clinical, molecular, and functional data for application in clinical treatment decisions. Actionable drugs were found for 97% of patients with AML, and the recommendations were clinically implemented in 37 relapsed or refractory patients. We report a 59% objective response rate for the individually tailored therapies, including 13 complete responses, as well as bridging five patients with AML to allogeneic hematopoietic stem cell transplantation. Data integration across all cases enabled the identification of drug response biomarkers, such as the association of IL15 overexpression with resistance to FLT3 inhibitors. Integration of molecular profiling and large-scale drug response data across many patients will enable continuous improvement of the FPMTB recommendations, providing a paradigm for individualized implementation of functional precision cancer medicine.Significance:Oncogenomics data can guide clinical treatment decisions, but often such data are neither actionable nor predictive. Functional ex vivo drug testing contributes significant additional, clinically actionable therapeutic insights for individual patients with AML. Such data can be generated in four days, enabling rapid translation through FPMTB.See related commentary by Letai, p. 290.This article is highlighted in the In This Issue feature, p. 275
Carotid Plaques From Symptomatic Patients With Mild Stenosis Is Associated With Intraplaque Hemorrhage
Authors: Nardi Valentina , Benson John , Bois Melanie C. , Saba Luca , Larson Anthony S. , Özcan Ilke , Ahmad Ali , Morse David W. , Meyer Fredric B. , Brinjikji Waleed , Lanzino Giuseppe , Lerman Lilach O. , Savastano Luis E. , Lerman Amir 
Published: November 2021

Carotid plaque vulnerability features beyond the degree of stenosis may play a key role in the pathogenesis and recurrence of ischemic cerebrovascular events.
This study sought to compare intraplaque hemorrhage (IPH) as a marker of plaque vulnerability in symptomatic patients with mild (<50%), moderate (50%–69%), and severe (≥70%) carotid artery stenosis.
We included patients who experienced ischemic cerebrovascular events with no other identifiable sources and underwent carotid endarterectomy for mild (n=32), moderate (n=47), and severe (n=58) carotid artery stenosis. The degree of stenosis and imaging hallmarks were assessed by computed tomography angiography or magnetic resonance angiography. Plaque specimens were stained with hematoxylin and eosin and Movat pentachrome staining.

Carotid plaques of patients with mild stenosis had a higher extent of IPH (%) on tissue analysis compared with patients with moderate (mild, 15.7% [interquartile range, 7.8%–26.7%]; moderate, 3.9% [0.0%–9.2%];
P
<0.001) and severe carotid artery stenosis (mild, 15.7% [interquartile range, 7.8%–26.7%]; severe, 2.5% [interquartile range, 0.0%–11.2%];
P
<0.001). When considering the degree of carotid artery stenosis as a continuous variable, a lower lumen narrowing was associated with higher extent of IPH (
P
<0.001; R, −0.329).

Our major finding is the association of IPH with mild carotid artery stenosis based on histological analysis. The current study may suggest that IPH potentially plays a role in the mechanism of stroke in patients with nonobstructive carotid stenosis.
Czech Litigation on Systematic Detention of Asylum Seekers: Ripple Effects across Europe
Authors: Moraru Madalina , Janků Linda 
Published: November 2021

Abstract
This article investigates the development of national litigation against the Czech Republic’s governmental policy to detain asylum seekers under the Dublin III Regulation, as a means to address the so-called refugee crisis. The outcome of this litigation has been the preliminary ruling of the Court of Justice of the European Union in the Al Chodor case, which has been praised for enhancing domestic standards of protection of asylum seekers and returnees’ right to liberty across the EU. The article demonstrates that this preliminary ruling has been a catalyst for domestic legislative and jurisprudential reforms across the EU, improving to a certain extent the protection of the right to liberty of asylum seekers. However, it is argued that in the Czech Republic the case has not initiated a change in the legislation, nor has it reduced the systematic use of asylum detention. The article identifies some important legal, political and social factors from within and beyond courtrooms that have contributed to this ambiguous outcome of the Czech litigation. It concludes by identifying circumstances that need to be taken into account when using the preliminary reference procedure as a tool for strategic litigation.
The „Niemands“ – Heimatlose Ausländer in Mannheim
Authors: Alexopoulou Maria 
Published: November 2021

Abstract
Heimatloser Ausländer (homeless foreigner) was a status granted to Displaced Persons, who were mostly slave or foreign workers during the Third Reich. How did local authorities and the population in Mannheim – an industrial ‘migration-city’– deal with these first ‘Ausländer’ of the Federal Republic of Germany?
This article outlines how local authorities managed housing for dp s and later homeless foreigners and how their concerns were treated with at the Ausländerbehörde (foreigners office). It also looks into the reactions and attitudes of the population mirrored in local/regional administrative files and press coverage.
The self-denomination as Niemands (nobodies), originating from sociologist and Mannheim based son of dp s, Stanislaus Stepień, expresses the history of a group of migrants who have been mostly forgotten after serving as projection surfaces and transmission objects for racial knowledge about the ‘migrant Other’ and ‘the German’.
A Parameterization of Slantwise Convection in the WRF Model
Authors: Chen Ting-Chen , Yau Man-Kong , Kirshbaum Daniel J. 
Published: November 2021

Abstract
In this study, we introduce a parameterization scheme for slantwise convection (SC) to be considered for models that are too coarse to resolve slantwise convection explicitly (with a horizontal grid spacing coarser than 15 km or less). This SC scheme operates in a locally defined 2D cross section perpendicular to the deep-layer-averaged thermal wind. It applies momentum tendency to adjust the environment toward slantwise neutrality with a prescribed adjustment time scale. Condensational heating and the associated moisture loss are also considered. To evaluate the added value of the SC scheme, we implement it in the Weather Research and Forecasting (WRF) Model to supplement the existing cumulus parameterization schemes for upright convection and test for two different numerical setups: a 2D idealized, unforced release of conditional symmetric instability (CSI) in an initially conditionally stable environment, and a 3D real-data precipitation event containing both CSI and conditional instability along the cold front of a cyclonic storm near the United Kingdom. Both test cases show significant improvements for the coarse-gridded (40-km) simulations when parameterizing slantwise convection. Compared to the 40-km simulations with only the upright convection scheme, the counterparts with the additional SC scheme exhibit a larger extent of CSI neutralization, generate a stronger grid-resolved slantwise circulation, and produce greater amounts of precipitation, all in better agreement with the corresponding fine-gridded reference simulations. Given the importance of slantwise convection in midlatitude weather systems, our results suggest that there exist potential benefits of parameterizing slantwise convection in general circulation models.
Examining the Kinematic Structures within which Lightning Flashes Are Initiated Using a Cloud-Resolving Model
Authors: Salinas Vicente , Bruning Eric C. , Mansell Edward R. 
Published: November 2021

Abstract
Lightning is frequently initiated within the convective regions of thunderstorms, and so flash rates tend to follow trends in updraft speed and volume. It has been suggested that lightning production is linked to the turbulent flow generated by updrafts as turbulent eddies organize charged hydrometeors into complex charge structures. These complex charge structures consist of local regions of increased charge magnitudes between which flash-initiating electric fields may be generated. How turbulent kinematics influences lightning production, however, remains unclear. In this study, lightning flashes produced in a multicell and two supercell storms simulated using The Collaborative Model for Multiscale Atmospheric Simulation (COMMAS) were examined to identify the kinematic flow structures within which they occurred. By relating the structures of updrafts to thermals, initiated lightning flashes were expected to be located where the rate of strain and rotational flow are equal, or between updraft and eddy flow features. Results showed that the average lightning flash is initiated in kinematic flow structures dominated by vortical flow patterns, similar to those of thermals, and the structures’ kinematics are characterized by horizontal vorticity and vertical shearing. These kinematic features were common across all cases and demonstrated that where flash-initiating electric fields are generated is along the periphery of updrafts where turbulent eddies are produced. Careful consideration of flow structures near initiated flashes is consistent with those of thermals rising through a storm.