esa-sceva/satcom-chunk-collection huggingface dataset:
# Position Tracking Control of 4-DOF Underwater Robot Leg Using Deep Learning
###### Abstract  
This paper presents a novel hybrid control method for position tracking of an underwater quadruped walking robot. The proposed approach combines an existing position-tracking control method with a deep-learning neural network. The neural network compensates for non-linear dynamic characteristics, such as the effect of fluid, without relying on mathematical modeling. To achieve this, a Multi-Layer Perceptron neural network is designed to analyze joint torque in relation to the joint angle and angular velocity of the robot, as well as the position and orientation of the foot tip and environmental data. The improvement in tracking control performance is evaluated using a 4-DOF underwater robot leg. For the neural network design, position tracking control data, including dynamic characteristics, were collected through position command-based position tracking control. Afterward, a learning model was constructed and trained to predict joint torque related to the robot's motion and posture. This learning process incorporates non-linear dynamic characteristics, such as joint friction and the influence of fluid, in the joint torque prediction. The proposed method is then combined with conventional task-space PD control to perform position-tracking control with enhanced performance. Finally, the proposed method is evaluated using the underwater robot leg and compared to a single task-space PD controller. The proposed method demonstrates higher position accuracy with similar joint torque output, thereby increasing compliance and tracking performance simultaneously.  
underwater robots; robot leg; position tracking control; deep learning; multi-layer perceptron +
Footnote †: journal: Applied  
**Citation:** [PERSON], [PERSON] Position Tracking Control of 4-DOF Underwater Robot Leg Using Deep Learning. _Appl. Sci._**2024**, 14, 1031. [[https://doi.org/10.3309/app14031031](https://doi.org/10.3309/app14031031)]([https://doi.org/10.3309/app14031031](https://doi.org/10.3309/app14031031))
## 3 Results and Discussion
### Coverage of Mineral Requirements After Consumption of 100 g of Bread
#### 3.4.1 Microelements  
After consuming a portion of 100 g of bread, high coverage of the demand for selected micronutrients was noted. Depending on the percentage of vegetable powders, the consumption of 100 g of bread allows the coverage of Cu requirements of 12.33-14.00% ( bread with CP) and 14.33-21.11% ( bread with PP), both among men and women. Cu is an essential element for, among other things, collagen and elastin synthesis and the transition of iron to hemoglobin [59]. Its deficiencies can lead to growth disorders in children; in addition, deficiency of this element can cause anemia [74].  
The fortified breads were also a good source of Mn. After consuming a serving of CP-enriched bread, Mn requirements are covered by 9.52-12.13% among men and 12.17-15.50% among women. In contrast, a serving of bread with PP allows to cover the Mn requirement in the amount of 8.43-13.43% among men and 10.78-17.17% among women. Although Mn deficiencies are not common in Poland due to the prevalence of this element in many foods, it is important to have a proper supply of this element. Mn regulates blood glucose levels, influences brain activity, and plays an important role in lipid metabolism by preventing fat deposition in the liver [59].  
Bread enriched with CP covered Zn requirements to a higher degree (5.85-6.81% men; 8.04-9.36% women) than bread with PP (5.14-5.37% men; 7.06-7.39% women). Zinc increases the body's resistance to infectious diseases and participates in the synthesis and breakdown of carbohydrates, proteins, and fats. It is indicated that zinc deficiency promotes the development of diabetes, certain types of cancer (e.g., esophageal, breast, colorectal), neurodegenerative diseases, and intestinal diseases [75].  
In the case of Fe, the coverage of the requirement after consumption of selected types of bread was dependent on sex and age. Due to the lower Fe requirement among men, the consumption of 100 g of bread with CP and PP covered the Fe requirement by 6.46-7.89% and 6.00-7.48%, respectively. In contrast, among women aged 18-50, 100 g of bread consumed covered the Fe requirement of 3.59-4.38 mg/100 g and 3.33-4.16 mg/100 g in bread with CP and PP, respectively. Fe participates in the formation of hemoglobin in the blood and determines normal muscle function. Its deficiencies primarily promote the development of anemia, which can result in functional impairment affecting cognitive development or immune mechanisms [76].
# Elemental Mercury Removal over CeO\({}_{2}\)/TiO\({}_{2}\) Catalyst Prepared by Sol-Gel Method
###### Abstract  
Elemental mercury (Hg\({}^{0}\)) emitted from a coal-fired boiler is a serious menace and challenge to humans. Using high-efficiency CeO\({}_{2}\)/TiO\({}_{2}\) catalysts to enhance the conversion from elemental mercury to oxidized mercury is a promising approach to reducing Hg\({}^{0}\) emission. However, most of the CeO\({}_{2}\)/TiO\({}_{2}\) catalysts were prepared by impregnation method or corepipitation method while little attention has been paid to sol-gel method, which has many advantages in material production. In this study, a series of catalysts were synthesized through the sol-gel method to remove the gaseous Hg\({}^{0}\) from simulated flue gas. The effect of vanadium (V) on Hg\({}^{0}\) removal efficiency and the simultaneous removal of Hg\({}^{0}\) and NO were also investigated. The results showed the optimal temperature for Hg\({}^{0}\) removal over the CeO\({}_{2}\)/TiO\({}_{2}\) catalysts was 350 \({}^{\circ}\)C. The oxidation of Hg\({}^{0}\) could be promoted by O\({}_{2}\), HCl, and NO, but inhibited by NH\({}_{3}\) and SO\({}_{2}\). The addition of vanadium could enhance the Hg\({}^{0}\) removal performance and the resistance to NH\({}_{3}\) and SO\({}_{2}\). A synergetic effect was found during the simultaneous removal of Hg\({}^{0}\) and NO. The high redox reaction reactivity of Ce\({}^{4+}\)/Ce\({}^{3+}\) and V\({}^{5+}\)/V\({}^{4+}\) should take the credit for the oxidation of Hg\({}^{0}\) and the removal of NO. Based upon the performance tests and the characterization experiments of the samples, the detailed mechanisms of the Hg\({}^{0}\) and NO removal over the catalysts were proposed.  
Keywords:elemental mercury; cerium; vanadium; sol-gel; nitrogen oxide; mechanism +
Footnote †: journal: Applied Physics Letters
## 2 Related Work
### Previous Dual-Arm Experiments  
The CERNTAURO project has faced a significant number of robotic operations in hazardous environments that required a single mobile platform with two robotic arms [2]. As a matter of fact, the use of the robotic manipulators depended on the specific intervention, having situations where each robot was configured to perform a specific function (e.g., screw/unscrew and holding). Also, in other operations, the robots performed synchronised behaviours, such as holding a part while the other manipulator was performing the intervention (e.g., disconnecting a pipe).  
To this end, the CERNTAURO project enables the robots to be adapted to a dual-arm configuration according to the operation necessities (Figure 5).  
Figure 6 presents some pictures of real interventions in radioactive scenarios at CERN with dual-arm configurations, where several layer removal must be performed, using the screwdriver arm (left arm on the left picture of the figure) to loosen the screws and the right arm to grasp and take off the shielding and to target recovery.  
Figure 5: CERNTAURO Project dual-arm robot configurations.  
Not only the robot mechanical components but also the software, such as the human-robot interface are adapted to the operations. As a matter of fact, in Figure 7, specific components interacting with the dual-arm robot configuration can be seen.  
As it can be seen in Figure 8, the first step to recover a pipe was to use a single mobile platform with dual-arm configuration, using the simulation server connected to the user interface.  
This experiment allowed the operator to enable leader-follower behaviours in order to synchronise the grasping, recovery, and transportation of the pipe. A video of this experiment can be found in the Videos section (see Section 4.5).  
The lessons learnt from this experiment can be summarised as follows:  
* Recovery of the pipe with a single robot dual-arm configuration was successfully and easily performed by the operator, considering the facilities provided by the central head camera.
* Transportation of the pipe with a dual-arm configuration has failed over 30% of the iterations due to the inertia forces of the mobile platform that might cause the pipe to be dropped.
* To provide safety to the intervention, it was necessary to add three auxiliary robots to the scenario, providing external viewpoints to the operator from the top, left, and right.  
In order to better solve these issues and to be able to face further problems with big objects, this paper focuses on grasping, recovering, and transporting the pipe with two single-arm mobile manipulators, which gives more possibilities to the operator. In fact, this enhances stability in the recovery and transportation phases while presents more difficulties while grasping.  
The solution presented is a step forward to solving the problem in a safe and reliable way.  
Figure 6: Real interventions with dual-arm configurations.  
Figure 7: Human-Robot Interface (HRI). components for dual-arm configuration: (**left**). dual-arm master–slave and (**right**) 3D representation of the robot state in the HRI.
# Voice Transformation Using Two-Level Dynamic Warping and Neural Networks
## 7 Comparison  
From Table 2 the average MCD across the test data was MCD = 2.8 dB. By contrast, in [32], the MCD for male to female conversion was 5.5 dB. The performance of our method was better than reported in [5], which used NN and reported an average MCD of 6.55. The work of VT using NN in [31] reported MCD of 6.1 dB. In all comparisons made, our method was significantly better (as measured by MCD) than previous work. Table 3 shows more comparison between this work and other works, mentioned in the references part, that used MCD scores to evaluate their works. The method presented here worked better than all previous work that reported performance using MCD.
# Long-Period Grating with Asymmetrical Modulation for Curvature Sensing
## 1 Introduction
Using a laser to fabricate two different periods in two directions also could achieve direction discrimination. [PERSON] et al. proposed a type of bending sensor that used CO2 irradiation to fabricate LPFGs in an isosceles triangle arrangement in a three-core fiber, while [PERSON] et al. reported a spatial cascaded orthogonal LPFG, and both achieved three-dimensional orthogonal sensing [17; 18]. [PERSON] et al. proposed an LPFG bending sensor based on arc grids in SMF, and sensors based on a V shape; these two grid shapes showed good sensitivity in two different directions [19; 20]. In this work, we proposed a novel bending sensor based on LPFG asymmetric index modulation, and it is capable of distinguishing different bending directions due to the asymmetric structure. The LPFG is inscribed in single-mode fiber by femtosecond laser with a point-by-point method using an oil objective. Compared with traditional LPFG, we inscribe the grating with an offset to the fiber axis. The grating spectrum is affected by the offset distance, and a larger offset leads to lower coupling efficiency, but a higher curvature sensitivity can be achieved. The LPFG exhibits different curvature sensitivities in different bending directions. The curvature responses in two orthogonal planes are experimentally investigated. The curvature sensitivity of an LPFG with an index modulation offset of 6 \(\upmu\)m is 29 nm/m\({}^{-1}\) in the 0\({}^{\circ}\) and 180\({}^{\circ}\) plane, and 20 nm/m\({}^{-1}\) in the 90\({}^{\circ}\) and 270\({}^{\circ}\) plane. The difference in curvature sensitivity in different bending directions makes the sensor capable of distinguishing the curvature orientation. The temperature response of the sensor is also experimentally investigated, and the temperature sensitivity of the sensor is measured to be 0.087 nm/\({}^{\circ}\)C. The temperature cross-sensitivity is calculated to be 0.003 m\({}^{-1}\)/\({}^{\circ}\)C, which indicates that the influence of temperature on the measurement accuracy of curvature is negligible. The LPFG curvature sensor is compact and robust, and has high sensitivity, which can be widely applied in areas such as robot arms and power grids monitoring.
# A New Methodology for Estimating Surface Albedo in Heterogeneous Areas from Satellite Imagery
## 4 Methods
### Atmospheric Correction Band to Band  
Methods denoted as V03 and V04 in this work apply a direct estimation of surface albedo from the reflectivity of the BOA [55]. These methods correspond to the validated algorithms of [PERSON] et al. [32].  
The estimation coefficients were calculated from empirical measurements of the surface albedo. Specifically, measurements from 16 locations on artificial urban surfaces made with a sampling time of 120 s were used. With these measurements, together with data from the OLI sensor bands (except for band 9 due to its high absorption and its low bending properties), a regression function of the least squares is generated for the correlation between surface albedo (measured in situ) and reflectivity at the BOA. This regression function was investigated with and without restrictions on the regression coefficients, whereby the methods V03 and V04 mentioned were generated. For both cases, in this work, the DOS1 atmospheric correction [56] is applied to each band used.
## 4 Conclusions  
In this study, the deflection of precast modular slabs with joints was investigated. To consider the unique behavior of the joint, the deflection was estimated considering the change in the moment of inertia, elastic modulus of the concrete of the segmented specimens, and the attached transmission lengths. The curvature and unit load methods were used to calculate the deflection. The following observations and conclusions are made:  
1. To estimate the deflection of the modular specimen, the equation given by [PERSON] was used. It was found that the deflection underestimated the experimental results by a difference of 2.41 mm.
2. Detailed deflection estimations were performed for four cases that took into account the effects of the initial cracks at the joint and the modulus of elasticity. In addition, the attached transmission length (\(l_{s,\mathrm{max}}\)) of the steel reinforcement and concrete on the crack surface at the joint was considered as a new crack area. The deflection values of Cases 1, 3, and 4 were underestimated as ratios of 0.74, 0.32, and 0.78, respectively. However, the value for Case 2 was overestimated to be 1.21 before the application of the cracking moment. Following the application of the cracking moment, the values for all cases were overestimated as average ratios of 1.4, 1.55, 1.04, and 1.19, respectively.
3. Case 4 had an error rate of 19.5%, which was the most accurate prediction. This case demonstrates the effectiveness of estimating modular slabs with joints to reflect the attached transmission length (length of lapped splices) to the left and right sides of the joint and considering non-cracking section for UHSC of joint until fail the specimen.
4. This study considered the difference in strength between precast concrete modules, the UHSC of the joint, and the attached transmission length to induce tension-stiffening for a new crack area. There are similar methods for evaluating deflection, such as weighted EI; however, engineers change the detailed calculation process based on their experiences such that consistent predictions are difficult to make. Therefore, dividing a section of precast concrete beam with joints can be an effective and structured prediction method.  
This research was supported by the Basic Science Research Program through the National Research Foundation of Korea (NRF), which is funded by the Ministry of Education (NRF-2016R1A6A3A11931804), and by a National Research Foundation of Korea (NRF) grant also funded by the Korea government (MSIP) (No. NRF-2017R1A2B2012535).  
[PERSON] and [PERSON] conceived and designed the study. [PERSON] and [PERSON] wrote the manuscript. [PERSON] reviewed and edited the manuscript.  
The authors declare no conflict of interest.
## 4 Experiments
### Analysis and Discussion
#### 4.5.4 Case Study  
As shown in Table 7, we observe that the baseline MNMT model has severe off-target issues, while our method significantly alleviates the problem and translates it into the  
\begin{table}
\begin{tabular}{c c c c c c c c c} \hline \hline
**Method** & \(\mathbf{n_{layers}}\) & \(\mathbf{d_{model}}\) & \(\mathbf{n_{heads}}\) & \(\mathbf{d_{head}}\) & \(\mathbf{n_{params}}\) & **English \(\mathbf{\rightarrow}\) X** & \(\mathbf{\times}\) **English** & **Zero-Shot** \\ \hline \multirow{4}{*}{MNMT} & 6 & 512 & 8 & 64 & 76M & 22.53 & 34.96 & 3.09 \\  & 6 & 768 & 8 & 96 & 148M & 23.02 & 35.25 & 3.20 \\  & 6 & 1024 & 16 & 64 & 241M & 23.44 & 35.77 & 3.67 \\ \hline \multirow{4}{*}{1 + SOBT + CLOS} & 6 & 512 & 8 & 64 & 76M & 23.78 & 35.44 & 15.80 \\  & 6 & 768 & 8 & 96 & 148M & 23.92 & 35.68 & 16.37 \\ \cline{1-1}  & 6 & 1024 & 16 & 64 & 241M & 24.24 & 36.05 & 17.25 \\ \hline \hline \end{tabular}
\end{table}
Table 6: Performance (BLEU) on the OPUS-100 dataset. We thoroughly evaluate our methods with different model capacities.  
Figure 4: Zero-shot average test BLEU for multilingual NMT models fine-tuned within different methods.  
\begin{table}
\begin{tabular}{c c c c c c c c} \hline \hline \multirow{2}{*}{**ID**} & \multicolumn{2}{c}{**SOBT**} & \multicolumn{2}{c}{**CLOS**} & \multirow{2}{*}{**English \(\mathbf{\rightarrow}\) X**} & \multirow{2}{*}{**X \(\mathbf{\rightarrow}\) English**} & \multirow{2}{*}{**Zero-Shot**} \\ \cline{2-3} \cline{5-8}  & **BLS** & **GLS** & **HS** & **SS** & & \\ \hline (1) & \(\times\) & \(\times\) & \(\times\) & \(\times\) & 22.10 & 34.53 & 10.60 \\ (2) & \(\checkmark\) & \(\times\) & \(\times\) & \(\times\) & 22.42 & 34.86 & 12.52 \\ (3) & \(\checkmark\) & \(\checkmark\) & \(\times\) & \(\times\) & 22.96 & 35.10 & 13.88 \\ \hline (4) & \(\checkmark\) & \(\checkmark\) & \(\checkmark\) & \(\times\) & 23.04 & 35.00 & 14.55 \\ (5) & \(\checkmark\) & \(\checkmark\) & \(\times\) & \(\checkmark\) & 23.78 & 35.44 & 15.80 \\ (6) & \(\times\) & \(\times\) & \(\times\) & \(\checkmark\) & 23.04 & 35.15 & 3.38 \\ \hline \hline \end{tabular}
\end{table}
Table 5: Ablation study based on the OPUS-100 dataset. Evaluations are performed with BLEU metric. We compare the transformer-base model performances with different combinations of SOBT(BLS), SOBT(GLS), CLOS(HS), and CLOS(SS). BLS denotes batch-level selection criterion, GLS denotes global-level selection criterion, HS denotes hard substitution, SS denotes soft substitution.  
correct target language, especially in non-English directions. We attribute the success of \"on-target\" in zero-shot translation to the suitable augmented training samples and transfer learning with better aligned representations.
###### Abstract  
Increasing population and modern lifestyle have raised energy demands globally. Demand Side Management (DSM) is one important tool used to manage energy demands. It employs an advanced power infrastructure along with bi-directional information flow among utilities and users in order to achieve a balanced load curve and minimize demand-supply mismatch. Traditionally, this involves shifting the electricity demand from peak hours to other times of the day in an optimized manner. Multiple users equipped with renewable resources work in coordination with each other in order to achieve mutually beneficial energy management. This, in turn, has generated the concept of cooperative DSM. Such users, called prosumers, consume and produce energy using renewable resources (solar, wind etc.). Prosumers with surplus energy sell to the grid as well as to other consumers. In this paper, a novel Prosumer-based Energy Sharing and Management (PESM) scheme for cooperative DSM has been proposed. A simulation model has been developed for testing the proposed method. Different variations of the proposed methodology have been experimented with different criteria. The results show that the proposed energy sharing scheme achieves DSM purposes in a useful manner.  
s _Article_  
A Novel Prosumer-Based Energy Sharing and Management (PESM) Approach for Cooperative Demand Side Management (DSM) in Smart Grid
# A Comparison of Faulty Antenna Detection Methodologies in Planar Array
## 3 Problem Formulation  
### Planar Array Radiation Pattern Generation  
The radiation pattern is generated by spatial signal processing, which uses phase shift and time delay to broadcast and receive sound waves according to the intended direction. The advantages of the phase shift, also known as the beam forming method, are less interference, high gain, improved device capability over omnidirectional signals, and focused directivity, resulting in improved signal quality.  
This work adopted a phased array beamforming method from [25] for beam pattern generation with \(\mathrm{M}\times\mathrm{N}\ =(8\times 8)\) elements, an ultrasonic frequency of \(\mathrm{f_{c}}=100\)\(\mathrm{KHz}\), and a speed of sound in air at \(20^{\circ}\mathrm{C}\) of \(\mathrm{c}=\frac{344\mathrm{m}}{\mathrm{sec}}\); the inter-element distance \(\mathrm{d}\) avoiding grating is calculated from \(\mathrm{\lambda}=\mathrm{c}/\mathrm{f_{c}}=344/100,000=3.44\) mm and \(\mathrm{d}=\mathrm{\lambda}/2=1.72\) mm.  
With identical amplitudes of \(\mathrm{w}(\mathrm{m})=1\), the array factor beam pattern was normalized. The superposition of two-beam patterns, \(\mathrm{S_{x}}\) in the x-axis and \(\mathrm{S_{y}}\) in the y-axis, results in the planar array beam pattern \(\mathrm{G_{p}}\). The planar array pattern's beamforming output is given in (1).  
\[\mathrm{G_{p}}(\theta,\varphi)=\mathrm{S_{x}}(\theta,\varphi)\times\mathrm{S_{ y}}(\theta,\varphi) \tag{1}\]  
where  
\[\mathrm{S_{x}}(\theta,\varphi)=\sum_{\mathrm{m}=1}^{\mathrm{M}}\mathrm{w_{x} }(\mathrm{m})\mathrm{e}^{\mathrm{i}(2\mathrm{m}-\mathrm{M}-1)\times\mathrm{arg _{x}}} \tag{2}\]  
\[\mathrm{arg_{x}}=\ \pi\mathrm{d_{x}}\Big{[}\mathrm{cos}\ \Big{(}\theta-\frac{\pi}{2}-\gamma_{x} \Big{)}\times\mathrm{sin}\ \Big{(}\phi-\frac{\pi}{2}-\gamma_{y}\Big{)}\ \Big{]} \tag{3}\]  
and  
\[\mathrm{S_{y}}(\theta,\varphi)=\sum_{\mathrm{n}=1}^{\mathrm{N}}\mathrm{w_{y} }(\mathrm{n})\mathrm{e}^{\mathrm{i}(2\mathrm{n}-\mathrm{N}-1)\times\mathrm{ arg_{y}}} \tag{4}\]  
\[\mathrm{arg_{y}}=\ \pi\mathrm{d_{y}}\Big{[}\mathrm{sin}\ \Big{(}\theta-\frac{\pi}{2}- \gamma_{x}\Big{)}\times\mathrm{sin}\ \Big{(}\phi-\frac{\pi}{2}-\gamma_{y}\Big{)}\ \Big{]} \tag{5}\]  
Figure 1: Flowchart of faulty location detection methodology.  
where \(\theta\) and \(\varphi=-90\):1:90 are the scanning angle in x and y dimensions; \(\gamma\) is the directed angle; \(w_{x}(m)=w_{y}(n)=w(m)=1\) are the weights on each element; d is the distance between array elements; M \(\times\) N are array elements; and m,n is the index.  
Figure 2a represents a planar array with M \(\times\) N elements and a uniform distance between the elements; Figure 2b shows the corresponding element position or location in an \(8\times 8\) planar array. Figure 3 shows the radiation pattern of an \(8\times 8\) planar array without any faulty elements.  
Figure 2: (a) Planar array with M \(\times\) N elements and uniform distance between the elements. (b) \(8\times 8\) planar array with corresponding positions of the elements.