esa-sceva/satcom-chunk-collection huggingface dataset:
# Online Foot Location Planning for Gait Transitioning Using Model Predictive Control
###### Abstract  
This paper proposes an online uniform foot location planning method (UPMPC) based on model predictive control (MPC) for solving the problem of large posture changes during gait transitioning. This method converts the foot location planning into a discrete-time MPC problem. The core part of the method is to complete the planning of the foot location based on the linear inverted pendulum (LIP) model and the simplified robot dynamics model. By unifying the input foot location at each time step, the solution time is shortened. The final simulation experiment compares the results of using the UPMPC and foot location planning method with heuristic function (HF) for gait transitioning, respectively. This result demonstrates that the UPMPC can complete the gait transitioning task and adapt to large changes in posture during gait transitioning. In addition, the results also show the good performance of UPMPC in fixed gait.  
MPC; foot location; motion planning; gait transitioning; legged robots +
Footnote †: journal: Applied Sciences
# Unfolded Algorithms for Deep Phase Retrieval
## 5 Conclusions  
In this paper, we proposed a new approach to the phase retrieval problem by developing hybrid model-aware and data-driven deep architectures referred to as Unfolded Phase Retrieval (UPR). Specifically, we focused on the conventional phase retrieval problem and the sparse phase retrieval problem. We considered a joint design of the sensing matrix and the signal recovery algorithm, utilizing the deep unfolding technique in the process. Such an approach allowed us to exploit the data for better accuracy and performance and attain trusted results owing to UPR's model-based roots and the resulting interpretability. The UPR framework required fewer data for effective training due its fewer parameters and enjoyed an enhanced convergence rate. The unique ability of UPR to allow for the design of task-specific sensing matrices further enhanced the performance of the system.  
The performance of UPR was compared with state-of-the-art model-based phase retrieval algorithms. Our results displayed a significant improvement in performance compared to such algorithms, thanks to UPR's hybrid model-aware and data-driven nature. In the future, we hope to expand on the UPR framework by demonstrating its ability to handle outliers within the phase retrieval environment. Future work will also  
Figure 6: Empirical success rate versus the measurement-to-signal length ratio (\(m/n\)) for \(\mathbf{x}\in\mathds{R}^{n}\) with \(n=784\) on the MNIST handwritten digit dataset.  
entail simulations for a noisy signal and a noisy sensing matrix to further expand UPR's performance in practical scenarios. Finally, we hope to gain access to larger computational resources to run simulations for a larger training dataset.  
Conceptualization, N.N., S.K., M.S., H.S., and H.C.S.; methodology, N.N., S.K., and M.S.; software, N.N. and S.K.; validation, S.K., N.N., M.S., H.S., and H.C.S.; formal analysis, N.N., S.K., and M.S.; investigation, N.N. and S.K.; resources, M.S., H.S., and H.C.S.; data curation, N.N. and S.K.; writing--original draft preparation, N.N. and S.K.; writing--review and editing, M.S., H.S., and H.C.S.; visualization, N.N. and S.K.; supervision, M.S., H.S., and H.C.S.; project administration, M.S., H.S., and H.C.S.; funding acquisition, M.S., H.S., and H.C.S. All authors have read and agreed to the published version of the manuscript.  
This work was supported in part by an Illinois Discovery Partners Institute (DPI) Seed Award and the NASA Goddard Space Flight Center Advanced Communications Capabilities for Exploration and Science Systems (ACCESS) Project Office. Parts of this work were presented at the 2020 Asilomar Conference on Signals, Systems, and Computers [48]. Data Availability Statement: Data is contained within the article.  
Special thanks to all at UIC and NASA for their continued support.  
The authors declare no conflicts of interest. The funders had no role in the design of the study; in the collection, analyses, or interpretation of data; in the writing of the manuscript; or in the decision to publish the results.
# Supporting Immersive Video Streaming via V2X Communication
## 3 Simulation Results and Discussion
Furthermore, the system incorporates the \"Bandwidth Allocation for Non-Real-Time Applications\" module, which operates proactively under uncongested network conditions. This module facilitates the pre-downloading of additional video segments for deferred viewing during journeys as vehicles pass through less congested road segments. This approach ensures uninterrupted non-real-time services even during peak periods when  
Figure 7: Bandwidth allocated for video applications after applying the proposed algorithm. bandwidth is primarily allocated to real-time applications, thereby preventing service disruptions or degradation in quality due to bandwidth constraints. Figure 8 provides a detailed illustration of the dynamic changes in bandwidth demand for all video applications within congested road segments throughout the day. During the timeframe from 7:00 a.m. to 10:00 p.m., it becomes apparent that the cumulative bandwidth requirements of vehicles in these congested areas surpass the capacity that CF XL-MIMO access points can provide. This limitation is clearly depicted by the green flat curve in Figure 8, indicating that many users experience unmet bandwidth needs during peak hours due to the constraints of CF XL-MIMO access points in these segments, resulting in compromised service quality and a diminished user experience. Conversely, the purple curve in Figure 8 highlights the efficacy of the proposed bandwidth allocation approach in addressing these challenges. By leveraging cooperative vehicle fleets and utilizing V2V communication technology, our approach facilitates the transfer of surplus bandwidth from CF XL-MIMO access points located in less congested road segments to vehicles in high-traffic areas. This strategic redistribution significantly augments available bandwidth beyond the limits of CF XL-MIMO access points in congested segments. To summarize, Figure 8 underscores how our innovative approach effectively manages bandwidth allocation dynamics, optimizes network performance, and ensures a more robust and reliable experience for vehicle passengers using video applications in varying traffic conditions.
# Multi-Label Extreme Learning Machine (MLELMs) for Bangla Regional Speech Recognition
## 2 Materials and Methods
### Dataset Collection and Prepossessing
#### 2.1.2 Speech Data  
Following the preparation of the text corpus, 50 subjects, 25 males and 25 females between the ages of 17 and 54 are asked to record their voices using their mobile phones. Each audio file collected from participants is preprocessed using Audacity software in order to improve the quality of the speech for the TTS synthesis model. Audio data captured at 22 kHz ranged in duration from 0.7 to 40 s. Any audio clips with words more than 15 or less or equal to 3 are removed. The audio files are then stripped into one wav file. After this, the three steps described by [PERSON] et al. [19] are used to synthesize the Bangla language audio files. We use 5760 original Bangla speech wave files for the TTS system, which generated a total of 7482 synthesis voices. Therefore, a total of 13,242 audio clip datasets were used to detect the synthesis signal and dialect of each audio file. In order to control dialects, Bangla words are pronounced in accordance with the dialect of the specific region. Figure 1 shows a sample of the speech data used to create the Bangla dataset with variation for dialect detection. In Bangladesh, some regions have few words that are pronounced similarly, while others have very different pronunciations.
# Free Space Optic Receiver with Strongly Overlapped Photodetectors' Field of View
## 1 Introduction
### Conditions Preserving Parallel Amplifier Advantages
With the relationship \(p_{n}>p_{nA}\), Equation (16) becomes:  
\[SNR_{out}=\frac{s^{\prime^{2}}p_{s}K_{21}^{2}}{s^{2}p_{n}K_{21}^{2}}=\left( \frac{st}{s}\right)^{2}\frac{p_{s}}{p_{n}}~{}~{}[/]. \tag{18}\]  
Based on these conditions, even a small difference between the illuminated photodetector number \(s^{\prime}\) and the total photodetector number \(s\) will have a strongly adverse impact on \(SNR_{out}\). Similarly, any photodetector enlargement will deteriorate the situation. We conclude that the FSO equal gain combining multiple photodetector receivers are suitable either for optically reflective environments or environments with a low optical noise power \(p_{n}\).
## 4 Inorganic Fertilizers
### Potassium Fertilizers  
Plant processes and development cannot function properly without potassium. It is one of the three major nutrients required for quality assurance, excellent appearance and great harvest of crops. It is key to various processes ranging from reproduction, growth, photosynthesis, protein synthesis, enzyme activation, water and stomata regulation among others [58]. When there is deficiency of potassium in the soil for plant absorption, the plants become prone to diseases, resistant to wind and temperature changes and the overall growth and development process of the crop is affected [58]. Other symptoms may include appearance of spots under the leaves, curling of the leaf tips, interveinal chlorosis, etc.  
Potash or potassium fertilizers can be obtained from several sources either organically or inorganically. Soil potash could be improved from compost made by agricultural wastes or food by-products such as banana peels. Wood ash obtained from burning of wood can also be a good source of potash and can be used to enrich the soil. Majority of inorganic potash used in agriculture can be obtained from potassium chloride (KCI). Other contributors are potassium sulfate, potassium nitrate, and potassium-magnesium salts. Commercially available potassium and other fertilizers are shown in Table 1. To process the fertilizer, potassium bearing ores are obtained from natural mineral deposits and crushed to reduce the sizes. Clay deposits are further removed and flotation process of separating the potassium from other compounds is carried out. Other methods such as sizing, refining, and crystallization are also carried out to obtain the fertilizers in different stages.
## 3 Results and Discussion
### Further Considerations Regarding the Technology  
The development of novel processes usually starts on a lab scale, where the treatment scale is low and the processing times can either be short or long depending on the effects that are being evaluated. If the lab-scale process has potential or proves to be successful, scale-up studies should be carried out to provide pilot- and industrial-scale processes. The studies carried out herein were typical lab-scale experiments. This study has provided proof of the concept that glow discharge plasma can alter the chemical composition of the orange juice aroma and can also reduce the contents of off-flavor compounds.  
Cold plasma is still a technology under development. Physicists and electrical engineers are currently studying how to scale up the processing capacity of the power sources, whereas food and chemical engineers and researchers from several areas are working on how to intensify the mass transfer and chemical reactions between plasma and samples of interest. As these studies advance, cold plasma will probably become technically and economically viable for industrial application.
## 9 Conclusions  
In this paper, we introduced a dynamic mobility path model for node localization in WSNs. The proposed path model is formed based on a number of inputs in a fuzzy-logic approach which helps to design a superior optimized path when the movement of the MA is limited. Two types of mobility, represented by four different models, are implemented in this work to test and examine our proposed model. The results show that our model, FLPPL, increases the network's localization efficiency in terms of localization coverage, localization accuracy, and localization precision. We were able to draw conclusions based on the three metrics studied:  
1. **Localization accuracy:** Represented by the localization error, the final results show leading outcome for our proposed model along with the dynamic model of NLA_MB as shown in Figures 12, 13 and 15.
2. **Localization precision:** The FLPPL dynamic model presents superior precision results with the highest ratios in both WCL and WCWCL as indicated in Figure 16.
3. **Coverage:** In general, the static models perform better than the others in terms of network coverage. However, this not necessarily true when MA movement is constrained and limited. FLPPL consider three inputs in its movement decision, the RSSI signal, the distance between nodes and anchors and the number of neighbours of nodes which increases the number of localized nodes effectively. These results hold in both experiments when using different distances of movement as shown in Figure 17.  
To conclude, we have shown that employing multiple inputs for forming a movement path has positive impacts in several regards.
# Data Anonymization for Hiding Personal Tendency in Set-Valued Database Publication
## 5 Experimental Results and Applicability
### Applicability of the Proposed Method  
The proposed algorithm uses weight ratio, \(WR_{t_{k},g_{j}}\) and mean tendency value, \(MTV_{t_{k}}\), both of which can be computed for any set-valued database. After finding category \(g_{j}\) having the maximum weight, the algorithm search for a record as a destination record \(t_{k}^{\prime}\) for item swapping. Following that, swapping the selected items from \(t_{k}\) and \(t_{k}^{\prime}\) is executed.  
In a certain set-valued database the proposed algorithm cannot perform swapping. To guarantee usefulness of the modified database only categories in a record having the weight ratio higher than \(MTV_{t_{k}}\), i.e., \(WR_{t_{k},g_{j}}>MTV_{t_{k}}\), are processed for item selection in Section 1. The same inequality is used for selecting destination record \(t_{k}\) in Section 4.3. Suppose \(g_{1},g_{2},..,g_{m}\) are categories of items in \(t_{k}\) and their item frequency in \(t_{k}\) are \(f_{1},f_{2},...,f_{m}\), respectively. From the Equations (4) and (5), the condition that \(t_{k}\) in a database does not satisfy the inequality \(WR_{t_{k},g_{j}}>MTV_{t_{k}}\) becomes \(\frac{\sum_{j^{\prime}=1}^{m}f_{j}}{m}\geq f_{j}\) for all \(j\in\{1,...,m\}\), i.e \(f_{j}\leq\frac{\sum_{j^{\prime}=1/\
eq j^{\prime}}^{m}f_{j}}{m-1}\) for all \(j\in\{1,...,m\}\). Under this condition the Algorithms 1 and 2 cannot output respective \(I_{t_{k}}\) and a pair of \(P\) for the \(t_{k}\). In this situation the swapping cannot be executed for that \(t_{k}\) in the database. A database is not suitable for swapping by the proposed method if most of the \(t_{k}\) in the database cannot be used for swapping because of the condition. For example if all individual records in a database containing categories that have uniform weight, no records can satisfy the condition \(WR_{t_{k},g_{j}}>MTV_{t_{k}}\). As a result the algorithm cannot perform item swapping.  
Figure 6: Required computational time to generate \(\widetilde{\mathcal{D}}\) among different methods.  
On the other hand, the proposed algorithm needs to compute Jaccard similarity coefficient for all pairs of \(t_{k}\) and \(t_{k}^{\prime}\) and as the number of records becomes large, its computational time increases. In this sense, the database size should not be too large.
## 3 Results
### Electrical Circuit and Control
\begin{matrix}\text{F},\text{ if error}>\text{C}\\ \frac{\text{E}-\text{D}}{\text{K}-\text{B}}\cdot\text{Erro}-\text{B}\frac{ \text{E}-\text{D}}{\text{K}-\text{B}}+\text{D},\text{ if error}\leq\text{C} \end{matrix} \right.\text{,} \tag{31}\]  
**Converting pulses into degrees**  
To calculate the position in degrees by number of encoder pulses, the encoder resolution [PPR] was programmed to 2500 pulses per revolution. The gear system, called planetary, consists of a sun pinion (Figure 5h), planetary (Figure 5f) and crown (Figure 5b). The pinion (P) has 15 teeth, the planetary at the bottom (Pi) has 18 teeth, and at the top, (Ps) has 15 teeth and crown (C) has 48 teeth. The planetary case ratio (PCR) is calculated in Equation (32) as:  
\[\text{PCR}\text{ }=\frac{\text{P}}{\text{Pi}}\frac{\text{Pi}}{\text{Ps}}\frac{ \text{Ps}}{\text{C}}=\frac{15}{18}\frac{18}{15}\frac{15}{48}=0.3125 \tag{32}\]  
The result of Equation (32) represents the turn in degrees of the link when the stepper motor shaft makes a full turn, i.e., when the motor makes a full turn (360\({}^{\circ}\)), the arm link  
Figure 11: Ramp of number of pulses applied to the motor as a function of error. makes a 0.3125 turn (112.50\({}^{\circ}\)). The angle per full pulse of the encoder relative to the motor shaft RRMS (resolution relative to the motor shaft) is calculated in Equation (33) as:  
\[\text{RRMS}\ =\ \frac{360}{2\cdot\text{PPR}}=\ \frac{360}{2\cdot 2500}=0.0720^{\circ} \tag{33}\]  
The angle per full pulse of the encoder relative to the RRRA arm link (resolution relative to the robotic arm link) is calculated in Equation (34) as:  
\[\text{RRRA}\ =\text{RRMS}\cdot\text{PCR}=0.0720\cdot 0.3125=0.0225^{\circ} \tag{34}\]
# Analysis of the Accessibility of the Swinoujscie-Szczecin Fairway for Deep-Draught Ships
###### Abstract  
This article focuses on aspects related to the under-keel clearance of ships passing through the modernized Swinoujscie-Szczecin fairway and analyses the impact of port water depths on safe navigation on the fairway, where the main factor determining the safe passage of a ship is the under-keel clearance (UKC). The article presents the results of research in which a detailed analysis of historical water levels in locations such as Swinoujscie, Trzebeiez, and Szczecin was conducted to determine the permissible draught for various types of ships in dynamic hydrological conditions. The study utilized hydrological data from 2008-2022 available in the public resources of IMGW, which allowed for the characterization of the pattern of water level changes and their impact on navigation. The results suggest that considering variable water levels when planning ship movements can minimize the risk of ship downtime and maintain the continuity of port operations. As a result of the conducted research, acceptable water level drops for different types and classes of ships were determined depending on their draught and the possibility of waiting to enter the fairway. The probability and average waiting time for a deep-draught ship to pass through the fairway in the event of a water level drop were also determined.  
under-keel clearance; ship draught; safe navigation; fairway; ship hydrostatics
# Data Anonymization: An Experimental Evaluation Using Open-Source Tools
## 7 Discussion of the Experiments and Recommendations  
The recommended tool to anonymize a dataset is ARX Data Anonymization so that the user does not need to be concerned about the dataset size, the elements in the dataset, or the complexity of the solution.  
We recommend to Amnesia programmers the correction of the errors pointed out and suggest the tool's enhancement with other algorithms in order to provide more solutions to the users. Another beneficial improvement that could be performed in the tool is the addition of information loss metrics. If this were implemented in a simple way, it could bring great improvement to the tool.  
In summary, the main conclusions of the tools assessment are the following:  
* Applying the OSSpal methodology, it is possible to verify that ARX Data Anonymization achieves 3.1 points and Amnesia 2.45 points, where the maximum is 5. Consequently, the ARX Data Anonymization is the best tool to use according to the OSSpal methodology.
* Using the public dataset with the most recent tweets about the Pfizer and BioNTech vaccine to evaluate the tools, it is also inferred that ARX Data Anonymization was the best tool. This tool was faster in the anonymization process and the results were not ambiguous.
* According to dataset size, if it has a size bigger than 4 MB or has symbols in the text fields, Amnesia does not support the dataset. Furthermore, for datasets where the size is near 4 MB, the anonymization process is also slower in Amnesia. Additionally, the results are more difficult to understand in Amnesia compared to the ARX Data Anonymization Tool.
* The main weaknesses and difficulties in using ARX Data Anonymization are that the tool does not mention in detail the steps that need to be performed to anonymize a dataset and the user can not choose a different privacy model from the ones that are previously selected by the tool.  
* For Amnesia, the main weaknesses and difficulties are the fact that the solution graph is very confusing since it has several solutions and also that it is not possible to transform unsafe solutions into safe solutions.
## 4 Maintenance Schemes
### Steel Plate Strengthening  
According to the above analysis, the disequilibrium of stiffness on both sides of the U ribs caused by diaphragm deformation changed the stress state of the DU and increased the risk of fatigue cracking. Therefore, setting a steel plate at the deformation part was considered to improve the stress state of the DU. The scheme and steel plate size are shown in Figure 15. The steel plate was tied to the deformed diaphragm in the FEM.  
Figure 14: Stress histories before and after hammer peening: (**a**) HA\(-1\); (**b**) HA\(-2\).  
Figure 15: Strengthening plan.  
To clarify the effect of steel plate strengthening, the principal stresses of the DU weld and arc notch in the deformation area were analyzed. Figure 16a shows that the DU weld stresses on the undeformed side did not change before and after reinforcement, while the DU weld stresses on the deformed side changed significantly after reinforcement and the peak stress decreased by 54.2%. Figure 16b shows that the arc notch on the undeformed side was in a state of compression before and after reinforcement, and the stresses did not change; meanwhile, the peak stress of the arc notch on the deformed side decreased by 26% after reinforcement, which also indicates that the stiffness of the arc notch was strengthened. In conclusion, on the deformed side of the DU, the steel plate strengthening method could improve the stiffness of the deformation area and effectively reduce the principal stress of the DU weld and the arc notch. For the undeformed side of the DU, steel plate strengthening does not affect the stress state of the original structure and could be used to improve the mechanical performance of the deformation area.