esa-sceva/satcom-chunk-collection huggingface dataset:
## 4 Control and Actuation Strategies
### Gait Experiment  
The goal of the gait experiment was to validate the OpenSim 3.0 model with the physical prototype and demonstrate the similarities of both of them with the human subject. A 3.5 (m) \(\times\) 3.5 (m) \(\times\) 3.5 (m) test area was instrumented with eight OptiTrack Prime 13 Watt infrared cameras that track retro-reflective markers at a frame rate of 60 Hz. The Motive post processing package was used to recorded the kinematic behavior of the robot and of a human volunteer performing a one-leg in-place gait motions. Marker's positions were imported in OpenSim 3.0's inverse kinematics (IK) package to compute the torques and angles (Figure 4), which were further imported in the forward dynamics (FD) tool to generated an actuation scheme (Figure 7) that manipulates each active element.
## 3 Results and Discussion
### Effect of Ball Diameter Ratio  
#### 3.2.1 Heat Transfer  
The effects of using the BT with different diameter ratios (\(BDR\) = 0.5, 0.75 and 1) on the heat transfer enhancement are shown in Figure 5a,b. At the given Reynolds number, the Nusselt number (heat transfer rate) in the tube equipped with BTs is higher than that in the plain tube for the whole test range. It is also noted that the use of BTs helps enhance the heat transfer rate by about 1.26-2.01 times that of the plain tube. This can be attributed to the thermal boundary layer destruction caused by the BTs.  
In addition, the Nusselt number increases with the increase of the Reynolds number because a thinner thermal boundary layer relates to a higher Reynolds number. Since the convective heat transfer can be enhanced more effectively at a higher turbulence level, the effectiveness of heat transfer enhancement is amplified. The numerical results indicate that the BT with a larger ball diameter ratio generates more efficient flow blockage, promoting stronger turbulence intensity to induce a higher heat transfer rate than the BT with a smaller ball diameter. Over the range investigated, the BTs with a ball diameter ratio of \(BDR\) = 1 produce the maximum heat transfer rate; that is about 6.8-13.9% and 12.4-23.5% higher than the cases of \(BDR\) = 0.75 and 0.5, respectively. Figure 5b indicates that the Nusselt number ratio (\(Nu/Nu_{\text{p}}\)) increases with the increase of the Reynolds number for all BTs.  
\begin{table}
\begin{tabular}{c c c c} \hline \hline
**Case** & **Size of Grid** & \(N\mathbf{u}\) & \(\mathbf{f}\) \\ \hline \multirow{3}{*}{\(BDR\) = 0.5, \(S\) = 40 mm} & 1,507,296 & 119.0010 & 0.2223 \\  & 1,665,452 & 120.6928 & 0.2237 \\  & 2,208,640 & 120.7506 & 0.2231 \\ \hline \multirow{3}{*}{\(BDR\) = 0.75, \(S\) = 40 mm} & 1,439,776 & 126.1883 & 0.2571 \\  & 1,534,488 & 126.4668 & 0.2551 \\  & 2,207,128 & 126.4893 & 0.2550 \\ \hline \multirow{3}{*}{\(BDR\) = 1, \(S\) = 40 mm} & 1,414,464 & 136.9326 & 0.3503 \\  & 1,681,248 & 136.9486 & 0.3485 \\ \cline{1-1}  & 2,129,344 & 137.4344 & 0.3433 \\ \hline \hline \end{tabular}
\end{table}
Table 3: Variation for the independency of solutions on grid systems at Re = 10,000.  
Figure 5: The Nusssett number versus the Reynolds number: (**a**) \(Nu\); and (**b**) \(Nu/Nu_{\text{p}}\).
# Voronoi-GRU-Based Multi-Robot Collaborative Exploration in Unknown Environments
## 4 Experiments and Discussion
### Comparison with Existing Methods  
We conducted comparative experiments to evaluate our V-R-MATD3 strategy against baseline MAPPO [44], MATD3 [19], and classical methods such as Rapidly-Exploring Random Trees (RRTs) [45] and Cost-based [46] approaches across three distinct map environments. Figure 9 illustrates the experimental process conducted on a simple test map. Figure 9a-c show the state information of V-R-MATD3 while it completes the exploration task. Notably, robot1 and robot2 finish the task in just two steps, with trajectories closely  
\begin{table}
\begin{tabular}{l c c c c c c} \hline \hline  & \multicolumn{2}{c}{**World I**} & \multicolumn{2}{c}{**World II**} & \multicolumn{2}{c}{**World III**} \\ \hline  & **Steps** & **MAE\({}^{1}\)** & **Steps** & **MAE** & **Steps** & **MAE** \\ \hline V-R-MATD3 & 3.67 & \(-1.0\%\) & 7.69 & 4.2\% & 5.42 & \(-2.3\%\) \\ R-MAPPO & 5.11 & \(-4.1\%\) & 9.04 & 3.8\% & 7.31 & \(-0.8\%\) \\ MATD3 & 6.80 & \(-11.8\%\) & 11.58 & \(-4.7\%\) & 14.10 & 16.8\% \\ \hline \hline \end{tabular} \({}^{1}\) MAE: mean absolute error of map coverage rate relative to the expected 90%.  
\end{table}
Table 2: Results of V-R-MATD3, R-MATD3, and MATD3.  
Figure 8: The complete motion trajectories and exploration coverage of robot1 and robot2 when using the MATD3 and RMATD3 strategies.  
resembling the ideal, intuitive path envisioned by humans. In contrast, the trajectories generated by the other three methods are more complex, and, even on this simple map, the RRT and Cost methods exhibit redundant coverage of the exploration area.  
To further investigate the general case, each experiment was repeated 50 times, and the average results are presented in Table 3.  
We used motion time steps as an efficiency metric during training to mitigate early-stage irregular movements and to accelerate learning. As robot motion stabilizes, steps correlates with time, ensuring optimal exploration in minimal time. Table 3 shows that our strategy consumes the lowest average time on World I, reducing the time consumption by 41.1%, 47.0%, 63.9%, and 74.9% compared to the MATD3, MAPPO, RRT, and Cost-based methods, respectively. Similar results are observed on the other two maps. Our V-R-MATD3 strategy consistently outperforms the other methods across all metrics on all three maps, particularly in terms of the steps metric.
# Separate Syntax and Semantics: Part-of-Speech-Guided Transformer for Image Captioning
## 4 Experiments
### Qualitative Analysis  
Figure 5 shows some test images and their corresponding captions and PoS sequences generated by PoS-Transformer and the Transformer baseline, respectively. Intuitively, the descriptions generated by PoS-Transformer were more precise and distinguishable compared to the Transformer baseline. The reason was that by introducing the PoS information guidance, our model was encouraged to align the visual words with the grounding visual features, while the generated captions conformed to the grammatical rules better. More specifically, our model could generate more fine-grained and grounded captions than the original Transformer model. Taking the fifth image as an example, the Transformer baseline only generated a simple sentence _a baseball player holding a bat_. Instead, our model generated the caption _a baseball game in progress with the batter up at the plate_, which was more fine-grained and had the same semantic meaning as the ground truth. In addition, in the last image, our model generated the feasible sentence _a large bird with a long beak walking on a beach_, while the Transformer baseline inferred the simple but wrong sentence _a bird that flying in the air_. Notably, the PoS tags generated by our model included two more ADJ (_large_ and _long_) and one NOUN (_beak_), which made the description more vivid and detailed. Additionally, it can be seen from Figure 5 that in most cases, the self-attention PoS predictor was able to precisely predict the PoS tags. It is \begin{table}
\begin{tabular}{l c c c c c c c} \hline \hline
**Methods** & **B@1** & **B@2** & **B@3** & **B@4** & **M** & **R** & **C** \\ \hline LSTM [43] & 0.663 & 0.423 & 0.277 & 0.183 & - & - & - \\ Soft-Att [11] & 0.667 & 0.434 & 0.288 & 0.191 & 0.185 & - & - \\ Hard-Att [11] & 0.669 & 0.439 & 0.296 & 0.199 & 0.185 & - & - \\ ATT-FCN [48] & 0.647 & 0.460 & 0.324 & 0.230 & 0.189 & - & - \\ ADP-ATT [12] & 0.677 & 0.494 & 0.354 & 0.251 & 0.204 & 0.467 & 0.531 \\ SCA-CNN [49] & 0.662 & 0.468 & 0.325 & 0.223 & 0.195 & - & - \\ Transformer (Base) & 0.664 & 0.483 & 0.345 & 0.243 & 0.212 & 0.466 & 0.551 \\ BCAN [50] & 0.698 & 0.519 & 0.378 & 0.274 & 0.212 & 0.488 & 0.583 \\ PoS-Guiding [28] & 0.638 & 0.446 & 0.307 & 0.211 & - & - & - \\ Inject+POS [27] & 0.694 & 0.498 & 0.355 & 0.254 & 0.251 & 0.538 & 0.469 \\ DAT-PoS-Transformer & 0.703 & 0.527 & 0.388 & 0.284 & 0.221 & 0.489 & 0.612 \\ \hline \hline \end{tabular}
\end{table} 
Table 6: Comparison of image captioning performance with state-of-the-art methods on Flickr30k caption dataset under cross-entropy loss.
# Stress and Fatigue Analysis of Picking Device Gears for a 2.6 kW Automatic Pepper Transplanter
## 3 Results and Discussion
### Gear Mechanism Fatigue Life  
Table 9 shows the load duration of the picking device gear mechanism with respect to operating speed. The maximum load duration was 1.75 \(\times\) 10\({}^{5}\) h for the 6.284 rad/s condition, corresponding to a 10-year service life with a 95% total load. The maximum measured values of the torque range were from 2.96 to 3.55 Nm, and the maximum load durations were between approximately 3.61 \(\times\) 10\({}^{4}\) and 1.75 \(\times\) 10\({}^{5}\) h.  
Figure 10 shows the predicted fatigue life of the picking device gear mechanism under different operating conditions. The most serious fatigue damage is shown at the 9.425 rad/s, because the gear was subjected to high loads under high operating speeds. According to the torque levels from the experiments at 9.425, 8.378, 7.331, and 6.284 rad/s, fatigue lifetimes for the cam mechanism gear were 1119.14, 1179.68, 1470.10, and 4635.97 h, respectively. On the other hand, the fatigue life for the crank mechanism gear was lower due to the high stress applied to the gear. For the crank gear set, predicted fatigue lifetimes were 436.65, 460.27, 573.58, 1808.80 h at 9.425, 8.378, 7.331, and 6.284 rad/s, respectively. The lifespan of the transplanter was estimated at 255 h. In this analysis, the predicted gear mechanism fatigue life was greater (by approximately two to 18 times) than the lifespan of the transplanter. It was indicated that the SCM 420H carbon steel material with a 5 mm gear face was suitable to operate the picking device for a service life of 10-years.  
Figure 9: Contact stress percentage error for the picking device gear mechanism from the FEA and AGMA standard stress analysis.  
\begin{table}
\begin{tabular}{c c c c c c c c c} \hline \hline \multirow{2}{*}{**Stress Bin**} & \multicolumn{2}{c}{**9.425 rad/s**} & \multicolumn{2}{c}{**8.378 rad/s**} & \multicolumn{2}{c}{**7.331 rad/s**} & \multicolumn{2}{c}{**6.284 rad/s**} \\ \cline{2-9}  & **Torque, Nm** & **Duration, h** & **Torque, Nm** & **Duration, h** & **Torque, Nm** & **Duration, h** & **Duration, h** \\ \hline
1 & 0.18 & 36,133.50 & 0.21 & 30,982.50 & 0.12 & 176,205 & 0.22 & 175,567.50 \\
2 & 0.67 & 892.50 & 0.63 & 6273 & 0.40 & 10,710 & 0.55 & 9562.50 \\
3 & 1.38 & 255 & 1.24 & 280.50 & 0.97 & 2040 & 1.10 & 2550 \\
4 & 1.45 & 408 & 1.36 & 255 & 1.21 & 255 & 0.00 & 0 \\
5 & 0.00 & 0.00 & 0.00 & 0 & 0.00 & 0 & 1.64 & 1020 \\
6 & 3.55 & 535.50 & 3.24 & 459 & 3.02 & 1912.50 & 2.96 & 1020 \\ \hline \hline \end{tabular}
\end{table}
Table 9: Load duration of the picking device gear mechanism with respect to operating speed.
# Recent Advances in Bacterial Persistence Mechanisms
## 5 Recent Progress of Technologies on Persister Studies
### Enrichment Methods  
The study of persister cells has, to some extent, been hampered because of their similarity to normal cells, which have a high abundance in the environment. If the purity of the sample cannot be improved, the high-throughput detection of gene expression cannot be achieved, such as RNA sequencing. Considering these challenges, a variety of enrichment methods have been applied to study the gene expression of the persistent phenotype [86]. The antibiotic lysis of sensitive bacteria is a conventional way of obtaining the remaining persister subpopulation [87; 88; 89]. Similarly, exposure to a stress environment, such as extreme temperature or nutrient restriction, and waiting for the aging of normal bacteria can induce persister survival [90]. Another method is flow sorting for persister cells via the fluorescent staining of bacterial cell membranes [86]. This method utilizes the intrinsic features in that the multidrug tolerance of persisters is correlated with depolarization, and that they express low proton motive force in the exponential division phase. However, in recent comparative genomics research, the authors demonstrated that persisters of _Burkholderia thailandensis_ would exhibit specific gene expression profiles if they were enriched by different methods [90]. Prolonged antibiotic treatment could kill sensitive bacteria and induce persisters, but the sample would be obstructed by death cell debris and thus could not be used for microscopy [91; 92]. [PERSON] et al. newly reported an enrichment method that induces strong filamentation by cephalexin, a kind of \(\beta\)-lactam antibiotic [89]. It allows size separation before cell lysis, thus limiting the antibiotic exposure time while obtaining samples with a high density of persisters, tackling these problems above. Similarly, using this method to study _E. coli_ strain K12 at a single-cell level, researchers found that persister cells exhibited stochastic awakening times [93].
# Toward Secure Smart Grid Systems: Risks, Threats, Challenges, and Future Directions
## 8 Proposed Framework: Multi-Layer Threat-Defense Alignment Framework
### Applications of MLTDAF in Counter-Terrorism
#### 8.4.3 Supporting Incident Response and Recovery Planning  
Early threat detection is one of the most crucial components of counter-terrorism. To identify covert or Advanced Persistent Threats (APTs), MLTDAF incorporates sophisticated detection techniques, including anomaly detection based on machine learning and traffic monitoring supported by Software-Defined Networking (SDN). By mapping anomalies to the Control Layer, for instance, coordinated zero-day attacks or GPS spoofing attempts can be quickly detected and mitigated.
## 2 Materials and Methods
### Study Inclusion Criteria  
The first clinical question underlying our research was, \"Which treatments are effective for the resolution of HPV-related oral cavity lesions?\" The elements taken into consideration for selecting studies to be included in the systematic review were determined according to the reference patient and problem, intervention, comparison, outcome methodology (PICO):  
* Patients or problem: patients with HPV-related oral cavity lesions;
* Intervention: pharmacological (systemic and topical) and non-pharmacogical treatments;
* Comparison: between different types of intervention and between active intervention and placebo;
* Outcome: clinical resolution of the lesion and possible recurrence after treatment.
* Eligibility criteria included;
* Randomized controlled trials (RCTs) and crossover trials that employed different treatment strategies for the management of HPV-related lesions;
* Case reports and case series employing different treatment strategies for the management of HPV-related injuries;
* Patients with clinical and histopathological manifestations of HPV-related oral cavity lesions;
* Articles in English or Italian language;
* Articles accessible in full form.  
Many treatments lack clinical trials. In fact, in the literature, only case series and case-control studies can be found. Nevertheless, the authors decided to pursue this investigation to highlight the need for more thorough analyses of benign HPV-related lesions treatments.  
This study was conducted following the guidelines recommended by the Cochrane Collaboration.  
The second clinical question underlying the research was, \"Which treatment, laser or scalpel excision, is most effective in achieving the removal of HPV-related lesions of the oral cavity?\"  
The elements of patient and problem, intervention, comparison, outcome (PICO) taken into consideration for selecting studies to be included were:  
* Patient and problem: patients with diagnosed HPV-related oral cavity lesions;
* Intervention: laser or scalpel excision;
* Comparison: between the different types of intervention mentioned above;
* Outcome: the disappearance of the lesions in the absence of recurrence at follow-up.  
The literature search was conducted using the Pubmed database between 1 January 1990 and 31 December 2019. Studies involving multiple types of HPV-related lesion treatment, both pharmacological and non-pharmacogical, were considered.
## 5 Conclusions  
This research used a VIS/NIR reflection spectrometer and an E-nose to develop a method to improve the accuracy of nondestructive and portable orange TSS detection, as the detection ability of single detection methods (VIS/NIR reflection spectrometer or E-nose alone) is currently unsatisfactory. For orange reflection spectrum information acquisition, data should be collected from the calyx position, then processed by Savitzky-Golay followed by extraction of 763 features (with MIs between feature and TSS value larger than 0.74). For orange E-nose information acquisition, the combined feature (the combination of 75 s value, average value, average of differential value, integral value, and maximum value) should be extracted. PCA-BPNN modeling based on fusion data of spectrum and E-nose information provides the optimal orange detection method for efficiently detecting orange TSS. The results of this experiment provide for a portable and nondestructive method for orange TSS detection with improved accuracy, which is important for the quick and nondestructive acquisition of accurate orange internal quality characteristics, particularly in the orchard or market. In addition, these experimental results provide a reference for the portable and nondestructive detection of other fruit when the ability of a single detection method is unsatisfactory.  
[PERSON] designed the reported study, evaluated the results, prepared and reviewed the manuscript. [PERSON] helped [PERSON] in the experimental setup and to conduct the experiments. [PERSON] is responsible for the entire experiment, analyzed the results, and prepared the manuscript. [PERSON] helped to analyze the experimental data and revised the manuscript. All authors both read and approved the manuscript.  
The authors thank the Guangzhou Science and Technology Planning Program (201904010199), National Natural Science Foundation of China (31901404), Research and Development Program in Key Areas of Guangdong province (2018B0202240001), New Developing Subject Construction Program of Guangdong Academy of Agricultural Science (Project No. 201802 XX), the Presidential Foundation of Guangdong Academy of Agricultural Science (Project No. 201920), and the Special Fund of Guangdong Academy of Agricultural Science for Scientific and Technological Talents Introduction/Cultivation.
# The Potential of _Phaeodactylum_ as a Natural Source of Antioxidants for Fish Oil Stabilization
## 3 Results and Discussion
### Phaeodactylum Biomass Addition (Part I)
#### 3.1.2 Secondary Oxidation  
Figure 3 shows the evolution of (E,E)-2,4-Heptadienal, (E)-2-Pentenal, and (Z)-2-Butenal as a measure for secondary n-3 LC-PUFA oxidation. For both systems, these three compounds showed a clear increase of 0.06 \(\upmu\)g/mg, 0.05 \(\upmu\)g/mg, and 0.03 \(\upmu\)g/mg throughout storage, respectively. The fact that a clearer (and significant) increase was observed towards the end of the storage experiment (after between 14 and 21 days), while the primary oxidation products showed a sooner (significant) increase (during the first storage week), is logical as these compounds are formed through hydroperoxide decomposition [36; 38; 39]. Other than for the primary oxidation results, the fish oil systems with _Phaeodactylum_ biomass addition (roughly) showed an equally large (but certainly not lower) increase compared to the pure fish oil systems. Apart from making the above-mentioned hypothesis of the hydroperoxide underestimation more probable, this again indicates clear lipid oxidation independent of 2.5% _Phaeodactylum_ biomass addition.  
Figure 3: Secondary oxidation of fish oil with (white symbols) and without (black symbols) 2.5% _Phaeodactylum_ biomass addition during 21 days of storage at 37 \({}^{\circ}\)C. The content of volatile compounds originating from lipid oxidation [(E,E)-2,4-Heptadienal (**a**), (E)-2-Pentenal (**b**) and (Z)-2-Butenal (**c**)] in \(\upmu\)g/mg (mean \(\pm\) sd, \(n\) = 2) is expressed in delta values, representing the relative increase or decrease compared to day zero. Information on statistical significance can be found in Supplementary Materials (Table S2).
## 5 Solution Scattering  
While the examples presented thus far are in the solid phase, in this last section, we discuss hierarchical structures that are also present in the solution. Proteins are the fundamental building blocks in biology, and their structure is important to understand biological functions and is implicated in many diseases. Proteins are polypeptide chains, the folding pattern of which is determined by their amino acid sequence (primary structure). These polypeptide chains are folded into \(\alpha\)-helices or \(\beta\)-sheets (secondary structure), the basic building blocks of the more complex structure. The \(\alpha\)-helices and \(\beta\)-sheets are arranged into the tertiary structure. Multiple ternary structures form the quaternary structure. Each tertiary structure can be considered a domain, a distinct functional, structural protein unit with a unique independent three-dimensional shape [117; 118]. Scattering from protein solutions has been discussed extensively in the literature [26; 27; 29]. Therefore, we illustrate the analysis of solution SAXS data using more recent examples drawn from intrinsically disordered proteins (IDPs), multidomain proteins, and protein condensates as examples in this class of materials [28; 30; 119]. SAXS data from solutions are analyzed using methods that are quite different from those discussed thus far for solids, fibers, and lamellar structures. Solution scattering data provide information about the size and shape of the scattering particles, proteins, or the assembly of proteins, as well as their internal structure at nm resolutions.
# Chemo-Mechanical Model for the Expansion of Concrete due to Alkali Silica Reaction
## 6 Verification Examples
### Verification the Effect of Alkali Released from Aggregate on ASR  
Instead of immersing the specimens in alkali solution, the alkali released from aggregate will play an important role when the specimens were immersed in water, or when the experiment was carried out in 100% humidity environment [30].  
In the experiment carried out by [PERSON] [54], mortar bars (40 mm \(\times\) 40 mm \(\times\) 160 mm were stored at three temperatures (20, 40, and 60 \({}^{\circ}\)C), along with a small amount of water in order to maintain 100% humidity and limit alkali leaching. The reactive aggregate contains alkali was used to prepare the specimens, with size groups of 0-3 mm.  
In the model, two sizes of aggregates were incorporated for simplicity. Eight-five percent with the size of 2 mm and 15% with the size of 0.75 mm, as suggested in Reference [51]. The results of XRD showed that the principle phases of the aggregates were quartz and illite. Illite contains up to 7.26 percent alkali (K\({}_{2}\)O), which will be released into the pore solution as the reaction proceeds. The mass ratio of alkali in aggregate depends on their chemical composition. This could range from 0.01% for limestone to 14% for soda-lime glass aggregates. Since the exact amounts of illite and alkali in the aggregates were unknown, we assume here that the alkali content in aggregate was 1.0%. The parameters adopted in the model are listed in Table 2. One eighth of specimen was modeled with linear brick elements, as shown in Figure 8 on the left.  
Figure 7: Comparison between measured [53] and simulated ASR expansions, fine aggregate.  
Good agreement can be seen in Figure 8, while, for the case of low temperature, there was some discrepancy between the simulation results and the experimental results.