esa-sceva/satcom-chunk-collection huggingface dataset:
# An Improved Deviation Coupling Control Method for Speed Synchronization of Multi-Motor Systems
## 5 Conclusions  
To enhance the synchronization performance of welding robotic arms and improve welding quality, this study presents an improved deviation coupling synchronization control method based on fuzzy PID. The improvement in the deviation coupling control strategy involves the design of an average speed compensator, effectively mitigating synchronization errors and reducing adjustment time in multi-axis control systems, thereby refining system synchronization. Furthermore, integrating the fuzzy PID algorithm into the controller promotes the adaptivity and stability of single-axis motors, leading to further suppression of synchronization errors and shorter adjustment times. Finally, without synchronization control, deviation coupling control and improved deviation coupling control are compared and analyzed. Simulation results reveal that, compared to without synchronization control, the improved deviation coupling control method reduces the maximum synchronization error of the system by 66% and decreases synchronization error adjustment time by 36%. Furthermore, compared to deviation coupling control, the improved method decreases the maximum synchronization error by 48% and reduces synchronization error adjustment time by 32%. Experimental findings demonstrate that embedding the improved deviation coupling control algorithm fosters cooperative motion among system axes and diminishes speed synchronization errors. These results comprehensively validate the effectiveness of the proposed method, offering a viable solution for the synchronization control of a six-degrees-of-freedom robotic arm with promising application prospects in the multi-axis synchronization control field.  
In forthcoming research, an in-depth analysis will be conducted on positional synchronization subsequent to the implementation of a multi-axis synchronous control algorithm, targeting enhanced positioning accuracy of welding robotic arms. Furthermore, refinement of the deviation coupling synchronization control compensator is envisaged to cater to environments necessitating heightened welding precision.  
Conceptualization, Y.M., L.Q. and W.H.; methodology, Y.M.; software, Y.M.; validation, Y.M. and L.Q.; formal analysis, Y.M.; investigation, Y.M.; resources, L.Q.; data curation, Y.M. and M.S.; writing--original draft preparation, Y.M. and W.H.; writing--review and editing, Y.M., L.Q., W.H. and M.S.; visualization, Y.M.; supervision, L.Q. and W.H.; project administration, W.H.; funding acquisition, L.Q. All authors have read and agreed to the published version of the manuscript.  
This research was funded by the National Key R&D Program of China (2022 YFB3902500).  
Not applicable.  
The data presented in this study are available in article.  
The authors declare no conflicts of interest.  
Figure 10: Experimental results of six-axis synchronous control with different methods. (**a**) Time difference between two adjacent axes; (**b**) speed difference between two adjacent axes.
# Numerical Simulation of Interaction between Plasma and Azithromycin Based on Molecular Dynamics
## 2 Modeling and Simulation  
### Reactive Forcefield Molecular Dynamics  
Molecular dynamics [23] (MD) is a method that combines physics, mathematics, and other disciplines to simulate the motion of molecular systems by relying on Newtonian mechanics. Molecular dynamics can be roughly divided into two categories. The first category does not involve the breaking and forming of chemical bonds and can generally be used to study phenomena such as heating, compression, and stretching. The second category consists of the breaking and forming of chemical bonds, which requires using reaction potentials, namely reactive forcefield molecular dynamics (ReaxFF MD). This molecular simulation method combines the ReaxFF forcefield and molecular dynamics, which can be applied to simulate chemical reactions in complex systems. The ReaxFF forcefield is a bond-level-based reaction position proposed by [PERSON] [24] et al. in 2001. The bond level is determined according to the distance between atoms, thereby describing the interaction between substances in a bond-level-based chemical system. The reaction potential files used in this paper are built in the Materials studio software. In the ReaxFF forcefield [24], the total energy of the system can be expressed as the following formula:  
\[E_{system}=E_{bond}+E_{over}+E_{under}+E_{val}+E_{Coulomb}+E_{vdw}+E_{conj}+E_ {tors}+E_{pen} \tag{1}\]  
The first term on the right is the bond energy, and the other terms account for correction terms for over- and undercoordination, valence angles, Coulomb interactions, van der Waals interactions, conjugated systems, torsion terms, and the occurrence of unfavorable configurations, respectively.
## 3 Data and Methodology
All the users' data was anonymous: we neither asked about nor collected family and given names, email addresses, or any other information that could be used to identify the person that participated to the task. We used session cookies to keep out returning users from trying the test more than once. However, the test participants were informed about the kind of data we were collecting and why (See Appendix A.1). The test was taken more than 10,000 times, but not everyone completed the task of classifying the 20 articles; in fact, although users were redirected to each room with a uniform probability, we observed ex post that some of them abandoned the test before the end, especially in Room 2 and partially in Room 5, as reported in Table 1. The higher abandonment rate in these two rooms could be explained by the length of articles in Room 2, which may have burdened the reader more than the short excerpts in other settings, and by the unreliable variety of \"other users' ratings\" in Room 5 that were actually random percentages, which may have induced some users to question the test integrity. It should also be noted that users that were redirected to Room 1 finished the test with the highest completion rate. Figure 1: Graphical representation of the information displayed for each news in each room. (**a**) Room 1: News headline and short excerpt. (**b**) Room 2: News headline and full text. (**c**) Room 3: News headline and a clickable link to the source. (**d**) Room 4: News headline and other users’ ratings. (**e**) Room 5: News headline and other users’ ratings (random values). After some necessary data cleaning (i.e., leaving out aborted sessions and second attempts from the same user), we ended up with 7298 unique participants that completed the 20-question test (145,960 answers total). The answers were collected within a two-week period in June 2020 by Italian-speaking users. Fakenewslab was advertised by ourselves through our personal pages on social networks such as Facebook and Twitter; it was subsequently advertised via word of mouth by the respondents that took the test. The test was followed by an ex post Delphi survey, carried out by 10 selected experts on media, that responded to our answers about the main features that can have a role in the perception of credibility of news online. We designed the questions in order to provide a qualitative support to the main findings of our quantitative analysis. Results will be discussed in Section 4, while the methodological details and the list of questions are available in Appendix A.4.
# Assessing the Role of Program Suspend Operation in 3D NAND Flash Based Solid State Drives
## 3 Background and Methods Applied  
### 3D NAND Flash Program Suspend  
The program operation was implemented in 3D NAND Flash memories by following two consecutive steps: first, the data to be programmed in a specific memory location (i.e., a page) are transferred from the host (in SSDs, the channel controller is responsible for managing this task) and loaded in an on-memory structure called _page-buffer_[27]; second, an iterative algorithm based on the Incremental Step Pulse Program (ISPP) and verify concept [28] is applied on the target Flash page. In a TLC device, like the one whose structure is depicted in Figure 2a, the data load phase associated to a single wordline of a memory block actually comprises three different page loads in sequence (lower, center, and upper pages) and separated by a setup time (i.e., the page buffer setup time). The ISPP algorithm is then started and ends when all the memory cells in each TLC page reach a desired amount of charge or a threshold voltage (see Figure 2b). The entire program operation lasts several milliseconds as indicated in [9] for state-of-the-art technologies.  
Enabling program suspension implies that the ISPP algorithm can be interrupted at any time. The 3D NAND Flash memories assume that the program iteration and verification are a single atomic operation. This is required to avoid the charge loss [30] during the suspension triggering an additional program pulse that could shift the cells to an unwanted threshold voltage level. The resumption from the suspension starts then with a program pulse. The programming voltage before the suspension is stored in the on-chip control logic to avoid the repetition of the same pulse when exiting from the suspension phase [10].  
The suspension paradigm dwells in a perfect understanding of the page-buffer role. This on-chip peripheral circuit is shared between the program and the read operation. In the former, it contains the data to be written, and, in the latter, it stores the memory retrieved content from a page before transferring it to the host via the channel controller. Since the controller is responsible for managing all the data transfers to the memory, it can be naively used for storing a copy of the data to write until the program operation is finished.  
In the case of a suspension request to preempt a read, it will serve it and then re-send the program data upon program resumption. However, this method performs poorly from the timing standpoint since it overloads the communication resources of the channel controller. In high performance Flash devices, it is embodied a _shadow buffer_ that contains an on-chip replica of the page buffer and that loads itself in the page buffer upon a program request [10].  
Figure 2: (**a**) The TLC 3D NAND Flash architecture. Reprinted with permission from [29] under Creative Commons License 4.0 (CC-BY). (**b**) An overview of the program operation phase without and with suspension.
# Space-Constrained Scheduling Optimization Method for Minimizing the Effects of Stacking of Trades
## 3 Space-Constrained Scheduling Optimization Method
### Importing Schedule Information from a Project Database  
In Step 1, SSO reads the schedule information (i.e., activity index (\(i\)), activity duration (\(D_{i}\)), the number of workers per day (\(r_{i}\)), the number of equipment per day (\(e_{i}\)), required amount of material (\(m_{i}\)), required temporary facilities (\(f_{i}\)), and predecessor (\(PS_{i}\))) from a project database (e.g., Primavera P6), and it then saves these data into a matrix N\({}_{\text{D}}\), as shown in Equation (1). Therefore, SSO does not need to generate activity data additionally for identifying optimal space-constrained schedules by incorporating with Primavera P6, which is a commercial SW for schedule management.  
\[N_{D}=[i,\ D_{i}r_{i},m_{i},f_{i},PS_{i}],\ i=1:I \tag{1}\]  
Next, SSO acquires all construction sites areas that are required to execute the project (Step 2). For this, the Industry Foundation Classes (IFC) file extracted from the BIM model is stored in the system. The IFC file is a text file contacting entity instances according to  
Figure 2: SSO algorithm.  
the IFC EXPRESS schema. The location information of the work areas is managed by the IfcProduct entity. The IfcProduct entity has a basic data structure that expresses the location and shape of its sub-entity IfcBuildingElement. The work area planes are made of lines that have (x, y) values, and the plane levels are classified by z values.
## 4 Findings Results
### Descriptive Findings
#### 4.1.5 The Distribution of Publications among Countries, and Collaborative Efforts  
between Them  
As depicted in Figure 7, the distribution of publications by the countries of the authors and their contributions to the field provides insightful perspectives on the global nature of this research area and its interconnections with other fields. The collaboration network covers a wide range of countries from various continents, such as Asia, Europe, North America, and Africa. This broad range indicates diverse interests in the research topic, originating not only from developed countries but also from underdeveloped ones. The involvement of countries like China, the USA, Germany, and India suggests that the scope of the research area is not confined to a single region but represents a cumulative scientific endeavor of worldwide concern.  
The figure shows that certain countries have formed multiple collaborations, indicating strong academic links and shared research agendas. For example, the USA collaborates with countries like Bangladesh, while Japan has agreements with both China and Indonesia, demonstrating a leading role in research within this field. Collaborations are not limited to neighboring nations but also include those geographically distant, such as Germany-South Africa and India-Morocco, effectively erasing socio-economic and technological barriers to knowledge sharing.  
Moreover, partnerships involve countries that were not previously considered significant players in international scientific research, such as Bangladesh, Iraq, and Jordan, highlighting an increasing interest in these regions. This growing recognition indicates a trend toward mainstreaming research efforts across different regions, informed by diverse global developments. The relatively high frequency of collaborations in countries like China and the USA has established these nations as hubs for multinational networks, facilitating academic endeavors due to their enhanced resources and infrastructure.  
Figure 6: Different methodological approaches and article proportion.  
Global collaborations showcase a diverse and vibrant research sector, fostering creativity and encouraging growth. The integration of previously separate research avenues could lead to groundbreaking breakthroughs. The international scope of this work suggests that the findings are relevant globally and continuously.  
In conclusion, the collaboration data reveal a sprawling and well-integrated international network in this research area, with numerous countries actively involved, underscoring its global significance. The findings demonstrate that cooperation among research teams from various regions is essential for collective progress.
# Micro-FL: A Fault-Tolerant Scalable Microservice-Based Platform for Federated Learning
## 5 Methodology
### Generating Clients  
Clients are integral to the federated learning process. The performance of the proposed Micro-FL system under varying user counts is evaluated using simulated clients. Given the substantial resources required to run multiple clients concurrently, the simulations are performed using Docker containers and Kubernetes. Google Cloud Kubernetes Engine is used to orchestrate variable client counts. Clients contribute to the federated learning process using two popular datasets, MNIST [59] and CIFAR-10 [60], in two distinct models, as shown in Figure 5a and Figure 5b, respectively. Datasets are randomly selected and evenly distributed to ensure no overlap among clients, as described in Table 3. Client-side training employs five epochs with a batch size of 10. Optimization is performed using Adam optimizer with a learning rate of 0.001 and training process of 100 iterations. For brevity, these datasets and their corresponding models will be referred to as MNIST and CIFAR-10 workloads. Additionally, the computational resources assigned to each workload are outlined in Table 4. It is important to clarify that the primary focus is server-side faults. Therefore, the simulations are run under the assumption that the clients function as expected, without any faults.  
Figure 5: Trained models for performance analysis of the Micro-FL framework. The model trained on MNIST has 25,450 trainable parameters and for CIFAR-10, it has 89,834. (**a**) Model trained on MNIST. (**b**) Model trained on CIFAR-10.  
\begin{table}
\begin{tabular}{l l l l} \hline \hline
**Dataset** & **Clients** & **Training Samples** & **Testing Samples** \\ \hline \multirow{3}{*}{MNIST} & 100 & 600 & 100 \\  & 500 & 120 & 20 \\  & 1000 & 60 & 10 \\ \hline \multirow{3}{*}{CIFAR-10} & 100 & 500 & 100 \\  & 500 & 100 & 20 \\ \cline{1-1}  & 1000 & 50 & 10 \\ \hline \hline \end{tabular}
\end{table}
Table 3: Distribution of MNIST and CIFAR-10 datasets for different number of users.
## 2 Background
### Security Metrics
To ensure that a security metric is correct and sound, it is recommended to verify the reliability and relevance of the data sources used to calculate the metric, to evaluate the integrity and quality of the data to avoid potential biases or inconsistencies, to ensure that the metric is measurable and quantifiable allowing for easy comparison and analysis, to check the metric consistency and stability over time and under similar conditions, to analyze the metric within the context of the organization's overall security program for better understanding, to avoid metrics that incentivize undesirable behavior or manipulation, and to continuously review and update metrics to reflect changes in the threat landscape and security strategies [16]. Modern security metrics must be able to provide a holistic view of security, considering the interaction between different components of the system and how an action or event at one point may affect other parts of the infrastructure. Effectively addressing the complexity of threats requires the use of integrated metrics that can cover multiple aspects and provide a more comprehensive perspective of vulnerabilities and potential threats. The composability of security metrics allows for more agile adaptation to new and emerging threats and enables the optimization of their composition and sum [3].
## 3 Collaborative AUVs
### Collaborative Missions
#### Intervention Missions
According to authors, results were very encouraging because the AUV swarm keeps both, the formation during the manipulation phase and the object, during an avoiding phase performed due to the presence of obstacles. [PERSON] et al. [147] worked in cooperative control of underwater vehicle-manipulator systems. An architecture is proposed by authors which take into account most of the underwater constraints: uncertainty in the model, low sensor bandwidth, position-only arm control, geometric-only object pose estimation. The simulated system, designed in MATLAB and adapted with SimMechanics, consisted of two AUVs transporting a bar. Results on bar position and applied forces on end effectors provided promising results on its possible real applications. [PERSON] et al. [148] worked on a similar system. Nonlinear model predictive control approach was proposed for a team of AUVs transporting an object. The model has to deal with the coupled dynamics between the robots and the object. The feedback relies only on each AUV local measurements to deal with communication issues, and no data is exchanged between the robots. A real-time simulation, based on UwSim dynamic simulator and running on the Robot Operating System (ROS), was performed to validate the proposed approach, where the aim for the team of AUVs was to follow a set of pre-defined waypoints while avoiding obstacles within the workspace which was successfully achieved. A summary of collaborative AUVs missions is presented in Table 6, as well as the potential applications and the strategies proposed in recent years. \begin{table}
\begin{tabular}{c c c c} \hline \hline
**Missions** & **Applications** & **Approaches** & **Results** \\ \hline Collaborative surveillance & Searching Tracking Mapping & Game theory. & Acoustic systems & Simulation and Experimental \\  & Inspecting & Dynamic prediction theory. & & \\  & Inspecting &
\begin{tabular}{c} \end{tabular} & Active landmarks and cameras & \\  & Consensus dynamics. & & \\ \hline Collaborative intervention & Recovering Manipulating & Decentralized strategies & \\  & & Minimal information exchange strategy & Simulation \\  & & Nonlinear model predictive control & \\ \hline \hline \end{tabular}
\end{table} 
Table 6: Summary on collaborative AUV missions.
## 4 Performance Evaluation of Layer-1 BoD Services
### Layer-1 Path Setup/Release Time  
The BoD server has set up and released more than 700 layer-1 end-to-end paths for research projects and demonstrations as of May 31, 2010. Here we shall illustrate setup and release time examples. Figure 8(a) plots the average times for path setup/release _versus_ the number of transit layer-1 switches, which were extracted from the results of the high-quality remote backup project. The figure shows the times for the bandwidths of 150 Mbps, 600 Mbps, and 1.05 Gbps between Hokkaido Univ. and other places. The setup/release time was defined as the time difference from when the BoD server sends a \"_createSNC/deleteSNC_ REQ\" and to when it receives the \"_Notification_ (create/delete CMPLD)\". The routes were calculated for the maximum available end-to-end bandwidth. For example, the route between Hokkaido Univ. and Kyushu Univ. transited the edge layer-1 switch at Hokkaido Univ., the core layer-1 switches at Sapporo, Sendai, Tsukuba, Tokyo, Nagoya, Osaka, Kyoto, Hiroshima, and Fukuoka, and the edge layer-1 switch at Kyushu Univ. (see Figure 3). The path for the 150-Mbps bandwidth transited 13 layer-1 switches, because it transited only one layer-1 switch at Osaka, and the paths for the 600-Mbps and 1.05-Gbps bandwidths transited 14 layer-1 switches, because we gathered the bandwidth from the parallel links by using diverse sub-paths. The numbers in parentheses in the figure indicate the number of sub-paths. The setup time tends to grow with the bandwidth, the number of transit layer-1 switches, and the number of sub-paths. These setup/release times are within the expected range for our layer-1 switches, which need time to cross-connect the TDM channels for each VC-4.
# An Overview of Key Technologies in Physical Layer Security
## 3 Secure Multi-Antenna Techniques  
Multi-antenna techniques have been widely considered in wireless communication because they offer higher spatial degrees of freedom, which can be utilized effectively in PLS to ensure secure data transmission. Such techniques either attempt to degrade the eavesdropper's channel relative to the main transmission channel or enhance the quality of the received signal at the legitimate receiver. From the perspective of optimization, the four techniques which are representative of this area are (1) beamforming, (2) zero-forcing (ZF), (3) convex optimization, and (4) artificial noise (AN). In Figure 10, from [33], each technique is described in terms of the transmission's orthogonality to Bob and Eve.  
Figure 10: Cont.  
Figure 9: MIMO wiretap channel model [29].