esa-sceva/satcom-chunk-collection huggingface dataset:
# EMG-Driven Shared Control Architecture for Human-Robot Co-Manipulation Tasks +
## 2 Materials and Methods
### Low-Level Layer
#### 2.2.2 Admittance Control  
The admittance controller aims to assign virtual dynamics to the manipulator, characterized by a desired mass, damping, and stiffness. More in detail, assuming to have a wrench sensor mounted on the wrist of the manipulator and to have a certain _reference_ trajectory for the end-effector, the _desired_ end-effector trajectory must have the following dynamics:  
\[\mathbf{K}_{m}\ \tilde{\mathbf{u}}_{r,d}+\mathbf{K}_{d}\ \tilde{\mathbf{v}}_{r,d}+\mathbf{K}_{k}\ \tilde{\mathbf{x}}_{r,d}=\mathbf{h}\, \tag{5}\]  
where the positive-definite matrices:  
\[\mathbf{K}_{m} = \begin{bmatrix}\mathbf{K}_{m}^{p}&\mathbf{O}_{3\times 3}\\ \mathbf{O}_{3\times 3}&\mathbf{K}_{m}^{o}\end{bmatrix}  \tag{6}\] \[\mathbf{K}_{d} = \begin{bmatrix}\mathbf{K}_{d}^{p}&\mathbf{O}_{3\times 3}\\ \mathbf{O}_{3\times 3}&\mathbf{K}_{d}^{o}\end{bmatrix} \] (7) \[\mathbf{K}_{k} = \begin{bmatrix}\mathbf{K}_{k}^{p}&\mathbf{O}_{3\times 3}\\ \mathbf{O}_{3\times 3}&\mathbf{K}_{k}^{o}\end{bmatrix} \, \tag{8}\]  
represent the virtual mass, damping, and stiffness, respectively, where the position \(\mathbf{K}_{(\cdot)}^{p}\) and orientation \(\mathbf{K}_{(\cdot)}^{o}\) gains are highlighted, \(\mathbf{h}= \begin{bmatrix}\mathbf{f}^{T}\ \mathbf{\mu}^{T}\end{bmatrix} ^{T}\in\mathbb{R}^{6}\) is the vector stacking the linear force and moments measured by the wrench sensor, and:  
\[\tilde{\mathbf{x}}_{r,d} = \begin{bmatrix}\tilde{\mathbf{p}}_{r,d}\\ \tilde{\mathbf{o}}_{r,d}\end{bmatrix} = \begin{bmatrix}\mathbf{p}_{r}-\mathbf{p}_{d}\\ \mathbf{o}_{r}^{-1}\star\mathbf{o}_{d}\end{bmatrix}  \tag{9}\] \[\tilde{\mathbf{v}}_{r,d} =\mathbf{v}_{r}-\mathbf{v}_{d}\] (10) \[\tilde{\mathbf{u}}_{r,d} =\mathbf{a}_{r}-\mathbf{a}_{d}\, \tag{11}\]  
are the operational space configuration, velocity and acceleration errors computed between the _reference_ and the _desired_ trajectories. The desired acceleration in output from the ad mittance controller can be computed by folding Equations (9)-(11) in Equation (5) and rearranging the terms, obtaining:  
\[\mathbf{a}_{d}=\mathbf{K}_{m}^{-1}[\mathbf{K}_{m}\;\mathbf{a}_{r}+\mathbf{K}_{d}\;\bar{\mathbf{v}}_{r,d}+ \mathbf{K}_{k}\;\bar{\mathbf{x}}_{r,d}-\mathbf{h}]\;. \tag{12}\]  
The desired end-effector velocity \(\mathbf{v}_{d}\) and configuration \(\mathbf{x}_{d}\) to be tracked by the inverse kinematics controller in Equation (2) can then be obtained by numerical integration of the desired acceleration. It is worth noticing that the virtual mass, damping and stiffness can be varied, obtaining a variable admittance controller. Each one of the operational modes listed in Section 2.1 has a corresponding set of admittance gains and potentially _requested_ trajectory (\(\mathbf{x}_{r}\), \(\mathbf{v}_{r}\), \(\mathbf{a}_{r}\)) that adjust the robot's behavior to successfully execute them.
## 4 Discussion
Similar to cast prostheses, whose accuracy depends on the practitioner's proficiency and on materials, CAD/CAM prostheses yield different results due to: (1) optimization differences between the equipment and software; (2) the condition of the tools (scanner tip and milling tool); (3) compensation; and (4) the proficiency of a practitioner. Hence, the present study aimed to identify the optimum input variables in the condition setting step so that the experiment would be reproducible. All scanned data were analyzed using the triple-scan method [16, 30]. This 3D measurement was validated in the preparatory experiment, which was conducted prior to the main experiment; it has also been used in numerous studies [31]. While the crowns fabricatedusing the CEREC and Carestream systems presented marginal gaps that were <90 \(\upmu\)m wide, the crown fabricated using the EZIS system presented a gap of about 10 \(\upmu\)m wider. The maximum clinically acceptable marginal gap has not yet been agreed upon; however, the literature suggests a value between 50 \(\upmu\)m and 200 \(\upmu\)m. More specifically, the 100-120 \(\upmu\)m range reported by [PERSON] et al. has frequently been used [31]. [PERSON] et al. recently conducted a study comparing the intraoral and model scanners [23]. They reported that the marginal gap of ceramic prostheses fabricated using the Omnicam was 149 \(\upmu\)m [23]. In the present study, the marginal gap of a ceramic crown fabricated using three kinds of chairside CAD/CAM systems was within the clinically acceptable range. The CEREC system had the narrowest occlusal gap; i.e., 113.0 \(\pm\) 43.4 \(\upmu\)m, followed by the EZIS system; i.e., 161.3 \(\pm\) 43.5 \(\upmu\)m. However, the Carestream system presented a gap of 438.2 \(\pm\) 96.3 \(\upmu\)m, which was much larger than the gaps for the other two systems. This could be attributed to the difference in accuracy between the milling equipment and intraoral scanner. Further research is needed on using the newly launched intraoral scanner and milling unit in the Carestream system. There were limitations in the present in vitro study. The scanning process did not reflect the clinical environment (wet environment, ambient light, etc.). Further clinical studies are required in the future. In addition, additional studies on fixed prostheses for multiple units are also needed.
# A Special Structural Based Weighted Network Approach for the Analysis of Protein Complexes
## 3 Methods
### Building Weighted PPI Network  
In general, PPI networks obtained through various experimental techniques are typically noisy and many interactions are presumed to be false positives [52; 53]. As a result, we should reduce the rate of false positives. To address this challenge topological properties of PPI networks have been proposed to develop preprocessing strategies for evaluating and eliminating potential false positives [54; 55; 56; 57; 58]. According to some experimental findings [59; 60; 61], neighbor information-based methods are used to evaluate PPI with high confidence scores and are typically more reliable than other methods. Thus, in this study to build a reliable weighted PPI network, we shall use Jaccard's coefficient similarity (\(J_{s}\)) [62] to compute the proteins interaction scores. Hence, the similarity between two neighboring proteins \(v\) and \(u\) is defined by  
\[J_{s}(v,u)=\frac{|N(v)\cap N(u)|}{|N(v)\cup(u)|}=\frac{|CN(v,u)|}{|N(v)\cup N(u )|}, \tag{1}\]  
where \(0\leq J_{s}(v,u)\leq 1\), \(I\) is the interaction between proteins \(v\) and \(u\), \(CN(v,u)\) represents the set of common neighbors proteins \(v\) and \(u\). \(|N(v)\cap N(u)|\) represents number of common neighbors of proteins \(v\) and \(u\). \(|N(v)\cup N(u)|\) represents the union set of all the different neighboring proteins of \(v\) and \(u\). Thus, with Equation (1), we can calculate weight between two neighbouring proteins \(v\) and \(u\) by  
\[w(v,u)=\begin{cases}1&if\ |CN(u,v)|\leq 1\\ 0&otherwise\end{cases} \tag{2}\]  
Based on our computation the similarity of two adjacent proteins will be higher if the two proteins share more common neighbors. On this basis, we propose a high-order  
Figure 2: A simple graph representation of the PPI network structure is shown in Figure 1. From the network, \(v\) represents the nodes or proteins and \(w\) represents the weight of edges or the confidence score.  
similarity metric based on Jaccard's coefficient between proteins \(v\) and \(u\) to calculate the connectivity between the adjacent proteins \(v\) and \(u\) in the common neighbor. Now we will define the common neighbors' support using the formula  
\[\rho(v,u)=J_{s}(v,u)\sum_{u\in CN(v,u)}w(v,u), \tag{3}\]  
where \(\rho\) is the common neighbor support of the weighted edge\((v,u)\) and \(w\) is the weight of the edge between protein \(v\) and \(u\) stated in the preliminary in Section 2. Thus, with Equations (2) and (3), we can define high-order similarity score by the formula  
\[\phi(v,u)=\frac{J_{s}(v,u)+\rho(v,u)}{1+\rho(v,u)}, \tag{4}\]  
where \(\phi(v,u)\) is the high-order similarity score for the common neighbor of two adjacent proteins and it takes the values in the range \([0,1)\). For the rest of the paper, \(\phi\) defines the edge weights \(W\).
# Evolution of Access Network Sharing and Its Role in 5G Networks
###### Abstract  
This paper details the evolution of access network sharing models from legacy DSL to the most recent fibre-based technology and the main challenges faced from technical and business perspectives. We first give an overview of existing access sharing models, that span physical local loop unbundling and virtual unbundled local access. We then describe different types of optical access technologies and highlight how they support network sharing. Next, we examine how the concept of SDN and network virtualization has been pivotal in enabling the idea of \"true multi-tenancy\", through the use of programmability, flexible architecture and resource isolation. We give examples of recent developments of cloud central office and OLT virtualization. Finally, we provide an insight into the role that novel business models, such as blockchain and smart contract technology, could play in 5G networks. We discuss how these might evolve, to provide flexibility and dynamic operations that are needed in the data and control planes.  
access networks; network sharing; 5G networks; multi tenancy; optical access; sharing economics +
Footnote †: journal: Applied Sciences
# Removal of Sodium Dodecylbenzenesulfonate by Macroporous Adsorbent Resins
## 4 Conclusions  
We demonstrated SDBS removal using two kinds of MARs, St- (for HP20) and MMA- (for HP2 MGL)-based crosslinked polymers. The effects of adsorption time, the amount of adsorbents used, and the initial SDBS concentration on the SDBS adsorption using the resins were investigated in both solutions of pure SDBS and mixed solutions of SDBS and Cs ions. In the test of SDBS removal from the mixed solution of SDBS and Cs ions, which was an imitation of RLWs generated during decontamination, HP20 showed superb SDBS removal capability compared with HP2 MGL. The maximum amount of SDBS adsorbed by HP20 (5 mg/mL) was 345 mg/g, observed at an initial SDBS concentration of 10 mg/m in the mixed SDBS/Cs solution. SDBS could be efficiently removed by the nonionic adsorbents, HP20 and HP2 MGL used in this study, in which they were different from other materials reported previously in terms of surface hydrophilicity. The reported materials from previous studies adsorbed SDBS via hydrophilic interaction, ionic interaction, or chemical bond with oxygen [33; 34]. However, the MARs in this study did not contain ionic functional groups and thus could remove SDBS via hydrophobic interaction and \(\pi\)-\(\pi\) interaction. The results proved that the  
\begin{table}
\begin{tabular}{c c c c} \hline \hline \multirow{2}{*}{**Model**} & \multirow{2}{*}{**Isotherm Constants**} & \multicolumn{2}{c}{**Values**} \\ \cline{3-4}  & & **HP20** & **HP2 MGL** \\ \hline \multirow{2}{*}{**Langmuir**} & \(q_{\text{max}}\) (mg g\({}^{-1}\)) & 57.9 & 15.5 \\  & \(K\) (mL mg\({}^{-1}\)) & 0.001 & 0.0009 \\  & \(R^{2}\) & 0.879 & 0.965 \\ \hline \multirow{2}{*}{**[PERSON]**} & \(K_{F}\) (mg g\({}^{-1}\) (mL mg\({}^{-1}\))\({}^{1/n}\)) & 0.477 & 0.143 \\  & \(n\) & 1.930 & 1.885 \\  & \(R^{2}\) & 0.923 & 0.945 \\ \hline \hline \end{tabular}
\end{table}
Table 2: [PERSON] and Freundlich Parameters for the adsorption of SDBS Using HP20 and HP2 MGL.  
Figure 10: Desorption of SDBS from adsorbents in ultrapure water (10 mL) at various pHs (2, 6, and 10) at 25 \({}^{\circ}\)C. [adsorbents] = 5 mg/mL.  
MARs were able to remove SDBS not only from pure SDBS solution but also from SDBS/Cs solution, indicating their potential usefulness for treating RLWs generated from decontamination processes.  
All authors discussed the results and reviewed the manuscript. Drafting of manuscript: J.K. and T.S.L.; All of test: J.K., D.K. and Y.J.G.; Planning and supervision of the research: K.-W.L. and T.S.L.  
This research was supported by the National Research Foundation of Korea (NRF) funded by Korean government through the Nuclear R&D Project (2016M2B2B1945085).  
The authors declare no conflicts of interest.
# Optimization Technique for High-Gain CMOS Power Amplifier for 5G Applications
## 1 Introduction  
Recently, with the adoption of fifth-generation (5G) communication standards, active research has been conducted on millimeter-wave (mm-Wave) power amplifiers (PAs); particularly, the demand for monolithic microwave integrated circuit (MMIC) operating at Ka-band frequency to satisfy the 5G standards is increasing [1, 2].  
More recently, studies have been underway to configure single-chip transceivers by utilizing high-integrity characteristics of CMOS [3, 4, 5]. However, it may not communicate smoothly if the transceiver path lacks gain, which is calculated to determine the appropriate margin when performing link budget analysis. Therefore, to compensate for the lack of gain, a gain amplifier would be required based on the IC specifications, resulting in a larger IC size and complexities. The link-budget calculations in our study show that if a single PA secures a minimum gain of 27 dB, the transceiver IC does not require additional amplifiers, and can be designed to be more marginal.  
In this work, a PA capable of obtaining high gain was designed, and the problem of stability that may occur due to the high gain was solved using a neutralization capacitor. To this end, for the first time, we extracted the optimal value of the neutralization capacitor using a differential structure.
## 2 Overview of Related Work
An ontology has been created to integrate our system with Europeana [34], the European Union's digital platform for cultural heritage. This platform provides different contents in 3000 institutions from all over Europe. These contents allow users to explore objects from prehistoric times to the present day. Europeana collects metadata about the digital objects but they are hosted in the cultural institutions. Linked Open Data (data.europeana.eu) contain metadata of images, texts, videos and sounds, including more than 2.4 million objects. Europeana portal offers access to a wide range of digital content. The platform has several ways of retrieving data: through Standard REST API over HTTP, which returns JSON data, or through Annotations REST API, which returns JSON-LD, through OAI-PMH data collection through OAI-PMH protocol, or through Linked Open Data Queries, through SPARQL. It is also possible to link data to external sources of information, such as the Swedish Cultural Heritage Aggregator (SOCH), GeoNames, GEMET thesaurus or DBPedia. In the field of knowledge engineering, the term ontology [35; 36] signifies a specification of a conceptualization. An ontology is the definition and classification of concepts and entities, and the relationships between them. The domain of discourse represents a set of objects while the relationships between them are the knowledge that a knowledge-based program uses, written in a declarative formalism. Ontologies use entities in the domain of discourse, such as classes, relationships or functions. They also use formal axioms to limit the interpretation of these terms. It is possible to represent ontologies using the W3C Web Ontology Language (OWL) [37], which is a semantic web language designed to represent knowledge about things and relationships between them. OWL is a language based on computer logic such that the knowledge is exploitable by computer programs. OWL documents can be published on the World Wide Web and can refer to or be referred to by other OWL ontologies. OWL is part of the W3C suite of technologies, which includes SPARQL, RDF, RDFS, etc. The Resource Description Framework (RDF) [38; 39] is a W3C specification to represent information about resources on the Web. It provides a structure (framework) to describe the resources (identified things). It is possible to represent information in RDF about things that are identified in the Web, even when they cannot be retrieved directly from the Web (for example, a book or a person). Uniform Resource Identifiers (URI) are similar to URLs, but they may not represent a real web page. RDF is flexible in terms of how data relationships can be explored, and it is efficient because the data can be read quickly. It does not follow a linear structure, as traditional databases do, and is not hierarchical like XML.
## 3 Currently Operational UAS Systems for SIF Retrieval
### Summary of the UAS-Based Methods Presented  
The presented projects are summarized in Figure 9, where the main components of the Piccolo-Doppio, AirSIF, and FloXPlane are displayed. The figure tracks the progress in development  
Figure 8: Flight altitude, pseudo-NDVI, and O\({}_{2}\)-A and O\({}_{2}\)-B relative bands depth for the (**a**) first and (**b**) second preliminary flights up to 600 m AGL. The first plots on each panel show the relation between the time and the flight altitude.  
Figure 7: Zoom to the (**a**) O\({}_{2}\)-B and (**b**) O\({}_{2}\)-A at sensor radiance spectra of the first flight of the FloX-Plane UAS [36].  
of UAS-based platforms for quantitative retrieval of SIF in physical units starting with the fiber optic bifurcation of [34], who also conducted a valuable characterization of the etaloning effect, and afterwards adapted by [35; 36] who installed a similar-principle system on-board a UAS including the implementation of an IMU and a dual GNSS antenna for a better pose characterization and cosine corrector performance analysis. Researchers from [37] added the investigation of the atmospheric influence on SIF retrieval under a 600 m air column.  
More systems may be under development, e.g., a platform called FluorSpec, not discussed here, is currently being developed by researchers of the Geo-information Science and Remote Sensing laboratory, at Wageningen Unversity and Research [58]. The core components of the system are the QEPro spectrometer, an RGB camera, a GNSS, and a Laser rangefinder sensor, all boarded on a DJI  
Figure 9: Schemes summarizing the main characteristics of (**a**) Piccolo-Doppio, (**b**) AirSIF, and (**c**) FloXPlane.  
S1000 octocopter. The spectrometer is configured with a split fiber, one channel for downwelling and one for upwelling measurements, covering a spectral range from 630 to 800 nm, with an FWHM of 0.14 nm and a spectral sampling interval of 0.31 nm. The irradiance, radiance, and reflectance factors at the top of UAS and canopy level can be derived after radiometric calibration and atmospheric correction processing.
# Global-Local Self-Attention Based Transformer for Speaker Verification
## 3 Proposed Architecture
### Transformer Block
#### 3.2.2 Locally Enhanced Positional Encoding  
The positional encoding mechanism plays a pivotal role in the Transformer model. Since the self-attention operation is permutation-invariant, it ignores location information within the input features. To add this information, we considered a straightforward way to add position information to the linear projection values. In addition, we wanted the input element to pay more attention to the location information of its local neighborhood. Therefore, we adopted the locally enhanced positional encoding (LePE) method. LePE is generated by applying a depth-wise convolutional layer [24] on the value \(V\). Given the matrices \(Q\), \(K\), and \(V\) in the Transformer model, after adding LePE, the proposed self-attention mechanism can be formulated as:  
\[Attention(Q,K,V)=SoftMax\left(\frac{QK^{T}}{\sqrt{d}}\right)V+DWConv(V) \tag{8}\]  
In this way, LePE conveniently adds local contextual location information to input elements.
## 1 Introduction
Due to the susceptibility of steel to corrosion [36], FRP rods have been used in combination with steel rods (hybrid flexural reinforcement, HFR) or as unique flexural reinforcement. In HFR, the steel rods are used to assure the load-carrying capacity of the structural member in case of a fire occurrence, since the properties of FRP rods are detrimentally affected by temperatures exceeding the Tg of the polymer used in their production [37; 38]. In the HFR, steel rods are also used to guarantee the aimed level of ductility, since FRP bars have linear-brittle tensile behaviour. Furthermore, FRP rods with a smaller modulus of elasticity and bond performance to the surrounding concrete and steel rods are used in structural applications, which has detrimental consequences for the SLS design verifications [39; 40; 41], justifying the use of a certain percentage of steel rods. FRC has been combined with FRP pultruded profiles or FRP systems made by a vacuum-assisted resin transfer moulding (VARTM) process for the development of very-lightweight construction systems, simpler to transport, install and dismantle, immune to corrosion and presenting low maintenance costs [8; 9; 10; 11; 12; 13]. In the present work, FRC is combined with glass fibre reinforced polymer (GFRP) gratings on the production of manhole covers of different load-carrying capacities for forming a  
Figure 1: Replacement needs for manhole covers due to: (**a**) steel corrosion; (**b**) local rupture; (**c**) global collapse. portfolio of solutions according to the classes imposed by BS EN 124:1994 [42], economically competitive with the existing solutions in the market, and without sufficient economic value that justifies being stolen. The use of GFRP gratings with concrete has already been explored in the development of new types of slab systems with interesting results [43; 44; 45; 46; 47; 48; 49; 50], so the aim is now to take advantage of FRC to avoid the brittle behaviour of concrete when submitted to load conditions that introduce cracking risk or punching failure. In accordance with BS EN 124:1994, the manhole covers are classified into six groups according to the load-carrying capacity demands required, which are dependent on the place where they will be installed, as indicated in Table 1 and Figure 2. The first four classes of manhole covers are related to the urban roads and highways, which starts from the first class of manhole covers, A15, that are used in areas where only pedestrians have access, through to the fourth class of these elements, D400, which are applicable where cars and lorries have access. The last two classes of manholes are applied in zones with traffic of very high wheel loads, and not covered in the present work. The classes of manholes are dependent on their maximum load-carrying capacity (\(F_{CI}\)), also indicated in Table 1.  
To assess the potential of this new concept of manhole cover, an experimental program was carried out, and the relevant results are presented and discussed in this work.