esa-sceva/satcom-chunk-collection huggingface dataset:
## 2 Theoretical Background
### Analysis of the Possibility of Head-On Gusts Estimation
\begin{bmatrix}Y_{BL}&Y_{\delta K}\\ L^{\prime}{}_{\delta L}&L^{\prime}{}_{\delta K}\\ N^{\prime}{}_{\delta L}&N^{\prime}{}_{\delta K}\\ 0&0\end{bmatrix} C_{lat}= \begin{bmatrix}Y_{pg}\\ L^{\prime}{}_{pg}\\ L^{\prime}{}_{pg}\\ N^{\prime}{}_{pg}\\ 0\end{bmatrix}  \tag{8}\]  
Increase in the gust value in the longitudinal axis of the airplane \(u_{g}\) occurs in the equation for the longitudinal motion of the airplane (3) in the disturbance vector \(Z_{lont}\) (6). Substituting matrices \(A_{lon}\), \(B_{lon}\), and \(C_{lon}\) and vectors \(X_{lon}\), \(U_{lon}\), and \(Z_{lon}\) to Equation (3), we obtain four equations. A third of them can be directly written as a dependence (9). \[\dot{q}=\overline{M_{u}}\cdot\left(u-u_{g}\right)+\overline{M_{w}}\cdot\left( w-w_{g}\right)+\overline{M_{q}}\cdot q+M_{\delta H}\cdot\delta_{H}+M_{\delta T} \cdot\delta_{T} \tag{9}\]  
It should be emphasized that \(\dot{q}\), \(u\), \(u_{g}\), \(w\), \(w_{g}\), \(q\), \(\delta_{H}\), and \(\delta_{T}\) represent increments in value and are not absolute values. This is because Equations (3) and (4) represent an incremental model. This property was taken into account in the process of modelling the estimation system. Assuming a constant descent rate \(W\) (increment of this parameter is zero, so we can assume \(w=0\)), no vertical gusts (\(w_{g}=0\)), and constant thrust (\(\delta_{T}=0\)), we can reduce the dependency (9) to the form (10):  
\[\dot{q}=\overline{M_{u}}\cdot\left(u-u_{g}\right)+\overline{M_{q}}\cdot q+M_{ \delta H}\cdot\delta_{H} \tag{10}\]  
By transforming the dependency (10) with respect to \(u_{g}\), we obtain Equation (11):  
\[u_{g}=\frac{\overline{M_{q}}}{\overline{M_{u}}}\cdot\dot{q}-\frac{1}{\overline {M_{u}}}\cdot q+\frac{M_{\delta H}}{\overline{M_{u}}}\cdot\delta_{H}+\frac{1}{ \overline{M_{u}}}\cdot u \tag{11}\]  
By introducing gain factors \(k_{1}\), \(k_{2}\), \(k_{3}\), and \(k_{4}\), Equation (11) takes the form (12). \[u_{g}=k_{1}\cdot\dot{q}-k_{2}\cdot q+k_{3}\cdot\delta_{H}+k_{4}\cdot u \tag{12}\]  
In the following part of the article, the estimation of \(u_{g}\) is identified with high frequency estimation of headwind gust (\(u_{g-hi}\)), according to the identity (13). \[u_{g-hi}\equiv u_{g} \tag{13}\]
# Investigations on an Ancient Mortar from Ulpia Traiana Sarmizegetusa Archaeological Site, Romania
## 3 Results
### High-Resolution Gamma Spectrometric Analysis for Natural Radionuclides  
The activity concentrations measured by gamma ray spectrometry in 80 g of mortar sample from Ulpia Traiana were \({}^{40}\)K: 581 \(\pm\) 12 Bq\(\cdot\)kg\({}^{-1}\); \({}^{232}\)Th (\({}^{228}\)Ac): 28.5 \(\pm\) 2.8 Bq\(\cdot\)kg\({}^{-1}\); and \({}^{226}\)Ra: 32.7 \(\pm\) 1.7 Bq\(\cdot\)kg\({}^{-1}\), respectively. To verify the direct exposure to environmental factors, the existence of radioactive deposits of \({}^{137}\)Cs (T\(\downarrow\)\(\cong\) 30 years), in the last 75 years, was checked. The level was, after 4.2 days of measurements, below the detection limit, i.e., below 0.77 Bq\(\cdot\)kg\({}^{-1}\).  
According to the distribution map, for the \({}^{137}\)Cs inventory in this region (corresponding to May 1986, recalculated in 1993, 2016, and 2016-2018 from experimental data) [42], a value of 5 \(\div\) 10 kBq\(\cdot\)sqm\({}^{-1}\) or greater was expected to be found. The obtained value, within the limits of detection, may be a sign of indirect exposure or rather of a continuous wash-up by water, humidity, and wind. This analysis opens up a new direction for future exploration of the ruins of ancient fortresses, offering the opportunity to establish whether or not the investigated areas were exposed to external factors after 1945.  
Concerning naturally occurring radionuclides (NORs), these values reveal low activity concentrations due to the low content in local limestone [43] or due to the specificity of other raw material sources in the area. This was the case for Barzava (Romania), which afforded \({}^{40}\)K: 514 \(\pm\) 21 Bq\(\cdot\)kg\({}^{-1}\); \({}^{232}\)Th (\({}^{228}\)Ac): 49 \(\pm\) 4 Bq\(\cdot\)kg\({}^{-1}\); and \({}^{226}\)Ra: 38 \(\pm\) 8 Bq\(\cdot\)kg\({}^{-1}\) (less than 100 km away), and for Eastern Hungary: \({}^{40}\)K: 418 Bq\(\cdot\)kg\({}^{-1}\); \({}^{232}\)Th (\({}^{228}\)Ac): 32 Bq\(\cdot\)kg\({}^{-1}\); and \({}^{226}\)Ra: 30 Bq\(\cdot\)kg\({}^{-1}\)[44; 45]. The measured values for Ulpia Traiana were slightly lower than the average specific activity for Romania, which was \({}^{40}\)K: 635 Bq\(\cdot\)kg\({}^{-1}\); \({}^{232}\)Th (\({}^{228}\)Ac): 46 Bq\(\cdot\)kg\({}^{-1}\); and \({}^{226}\)Ra: 54 Bq\(\cdot\)kg\({}^{-1}\)[46]. What was distinct for the above-mentioned locations was the ratio greater than 1 between \({}^{232}\)Th (\({}^{228}\)Ac) and \({}^{226}\)Ra, revealing the materials used at Ulpia Traiana as being local materials. Volcanic tuffs or pozzolanic materials from the Roman Magmatic Province for enhancing the mortar's mechanical properties were not involved [47; 48]. The findings from the other analyses, i.e., showing that local materials were used, were in this way substantiated.
## 6 Conclusions  
Recent developments on navigation methodologies for autonomous unmanned vehicles show that the HPF-based navigation algorithm is an example of the unifying view or framework of a vector field or dynamical systems based vehicle navigation pattern generators inspired from the scalar function of APFs (e.g., Reference [38]). The streamlines provide a pool of systematic, predictable smooth primitive paths that are integral curves of explicit and easily computable vector fields useful for the specification of the path tangent for directional navigation guidance and higher order path characteristics such as the curvature at each point of the path followed by autonomous vehicles. We demonstrate the practical usefulness of an HPF-based method to generate smooth paths for non-holonomic mobile robots to avoid obstacles via an obstacle avoidance system based on streamlines with a curvature constraint in this paper. First, streamlines extracted from the harmonic potential field are used to design three primitive smooth paths satisfying the curvature constraint for a single obstacle avoidance along with their application situations according to a lateral distance relative to obstacle size. Second, the pure pursuit algorithm is implemented to pursuit streamline-changing paths satisfying the curvature constraint for local multiple-obstacle avoidance situations. The simulation results show that pure pursuit paths in combination with initially planned streamlines can find feasible paths with smaller curvature constraints compared to previous hydrodynamics-based approaches. Furthermore, a proof of concept experiment was conducted to validate that the obstacle avoidance system based on the a priori selection of fast computing primitive streamline paths is computationally efficient and that the reaction time is able to handle the situation of an obstacle being detected in front of it online. Future work is planned to focus on the extension to 3D space, and toward safe navigation  
Figure 19: The experimental setup for operating a mobile robot in a cluttered environment (**upper**: the photo, **lower**: the mapping) and two resulting obstacle-avoiding navigation paths generated online by the streamline-based approach.  
Figure 20: The linear and angular velocities, speeds of the left and right wheels and curvature profiles of the two directional navigation paths depicted in Figure 19, where \(\mathrm{v_{x}}=0.5\) is the desired constant reference longitudinal/forward/tangential speed and \(\mathrm{v_{y}}\) is the lateral speed of the robot.  
in environments of increasing size and complexity such as moving obstacles and multiple vehicles scenarios with the complete real-time HPF-based path planner. Additionally, it is also interesting to see the navigation performance under different sensor qualities such as the RGB-D sensor.  
[PERSON] wrote the initial draft, [PERSON] and [PERSON] conducted the experiment, [PERSON] worked on HPF simulation, [PERSON] worked as PI of the whole project.  
This research was funded by IIS, Academia Sinica.  
The authors declare that there is no conflict of interest.
# A Reconfigurable Formation and Disjoint Hierarchical Routing for Reshapeable Bluetooth Networks
## 2 Related Work
In Bluestar, each node initially executes an inquiry procedure in a distributed manner to discover its neighboring devices, then a number of masters are selected based on the number of their neighbors. Finally, a number of gateways are selected by these masters, and thus, a mesh-like scatternet is formed. The MSMmodel may use master/slave or slave/slave nodes as relays to increase scatternet performance with additional protocol complexity. In [23], a practical formation algorithm is used to build a large tree scatternet application for solar energy farms. Based on a piconet structure, the tree hierarchy is generated from a root node to the leaf nodes via master-slave links. An asymmetrical merging procedure is iterated to merge sub-trees, or to reduce depth by an active node until a scatternet is formed. This network is developed for application in the collectors in large solar energy farms. In order to achieve path length reduction, a hybrid mesh-tree (HMT) formation method is proposed in [9]. This method uses a designated root to propagate constant \(k\) in its downstream direction in order to construct a mesh-shaped topology and determine new roots for its descendant tree-hierarchical nodes. Each new root then starts to build its own tree subnet until the entire scatternet is formed. As a result, the mesh-subnet size can be controlled by the appropriate selection of the \(k\) parameter. Notably, routing protocol design is another leading research field for Bluetooth multi-hop scatternets. Thus far, many well-known routing protocols have been presented, including proactive, reactive and hybrid methods, for Bluetooth networks. In the proactive category [18], each master manages a routing table, such as its downstream nodes in the spanning tree architecture. Although this involves a small delay in determining a route, the routing information periodically exchanges to generate network overhead; this is the main challenge involved in this method. Usually, a flooding or broadcasting method is used to search for the optimal path from a source node to a destination node in the reactive category [25; 26]. As a result, the reactive approach incurs a certain amount of packet overhead in terms of packet delay for path discovery, but provides better network scalability. In the hybrid category [27; 28] of Bluetooth scatternets, the performance of a hybrid routing protocol is simulated, and a trade-off between routing overhead, route discovery latency and the amount of storage occurs.
## 3 Results and Discussion  
In this study, the economic efficiency of replacing the rice straw with WCBS was determined in comparison with a control diet (using rice straw/concentrate), based on measurements of meat quality in Hanwoo steers. Table 2 presents the mean values for the nutrient composition of the WCBS and CON ratios. Higher content of CP (9.03 vs. 3.62, DM), ether extract (2.6 vs. 1.9 DM), in vitro dry matter digestibility (IVDMD; 63.02 vs. 51.63, DM), and total digestible nutrients (TDN; 61.85 vs. 47.03, DM) was noted in WCBS compared to control diet. Lower dry matter content (DM 40.75 vs. 90.01, DM), crude ash (CA, 8.64 vs. 32.41, DM), neutral detergent fiber (NDF, 53.62 vs. 80.02, DM), and acid detergent fiber (ADF, 34.72 vs. 53.14, DM) were recorded in the WCBS treatment than the control diet. Table 3 shows the mean values for growth performance and feed intake during the initial feeding, first-, mid-, and finish fattening period. Over the duration of the experimental periods, steers consumed 9975 kg of WCBS/concentrate (5775 kg WCBS and 4200 kg of concentrate) and 6836 kg of rice straw/concentrate (1736 of rice straw and 5100 kg concentrate). The CON group had a slightly higher initial mean body weight compared with WCBS, although the final mean body weights over all experimental periods were higher in the WCBS group compared to the CON (\(p>0.05\)). The WCBS group had a higher daily body weight gain (0.98 kg) compared to the CON group (0.87 kg) in the initial feeding period (\(p<0.05\)), whereas differences were not found in the fattening periods (\(p>0.05\)). Nevertheless, intake of concentrate was lower in the WCBS group than in the CON in all experimental periods (\(p<0.01\)). In the present study, it was noted that the total feed intake in DM basis was lower in WCBS than CON in all phases, although there was no significant difference in feed conversion ratio of WCBS group compared to CON. These results suggest that WCBS could provide an economically balanced concentrate replacer during all experimental periods, which is consistent with previous studies that show that high-quality forages improve performance and feed intake in steers [8,31]. \begin{table}
\begin{tabular}{l l l l l} \hline \hline
**Items (\%)** & **CON** & **WCBS** &
\begin{tabular}{l} **SEM 1** \\ **(\%)** \\ \end{tabular} & **Pr \textless{} F 2** \\ \hline Dry matter (DM), \% & 90.01 & 40.75 & 5.46 & 0.01 \\ Crude protein (CP) * & 3.62 & 9.03 & 0.31 & 0.01 \\ Ether extract (EE) * & 1.90 & 2.60 & 0.90 & 0.05 \\ Crude ash (CA) * & 32.41 & 8.64 & 0.42 & 0.01 \\ Neutral detergent fiber (NDF) * & 80.02 & 53.62 & 1.35 & 0.01 \\ Acid detergent fiber (ADF) * & 53.14 & 34.72 & 1.10 & 0.01 \\ In vitro dry matter digestibility (IVDMD) * & 51.63 & 63.02 & 0.78 & 0.05 \\ Total digestible nutrient (TDN) * & 47.03 & 61.85 & 0.86 & 0.01 \\ \hline \hline \end{tabular}  
* CON: control—Rice straw; WCBS: whole-crop barley silage; 1 Standard error of the mean for 12 steers. 2 Significance level,
* DM basis.  
\end{table} 
Table 2: Nutrient compositions of the control and whole-crop barley silage groups.
# Research on Vehicle-to-Vehicle MIMO Wireless Channels in Various Tunnels
## 1 Introduction  
### Backgrounds  
As a promising technology for sixth generation (6G) wireless communication systems, multiple-input multiple-output (MIMO) equipment has received increasing attention throughout the industry and academia [1, 2], which is mainly due to the significant gains by exploiting the multi-path richness of wireless channels [3]. In light of this, it is of vital importance for the researchers to investigate the propagation characteristics of wireless channels in the physical layer [4]. In the existing literature, such as [5, 6], authors are inclined to propose effective channel models to characterize the propagation physical in different vehicle-to-vehicle (V2V) communication scenarios. According to the measured data in [7], it has been demonstrated that three-dimensional (3D) channel models, which consider the azimuth and elevation angles of the propagation paths, are obviously more accurate than two-dimensional (2D) channel models in describing the practical wireless communication environments [8]. In light of this theory, the authors proposed a variety of 3D channel models to describe the practical V2V communication scenarios. Specifically, in [9, 10], [PERSON] et al. and [PERSON] et al., respectively, developed the multiple confocal semi-ellipsoid models and cylinder models in 3D space to describe the scatterer distributions in V2V communication scenarios. It is worth mentioning that V2V channels are obviously different from the typical channel models, which mainly concentrate on their high dynamic properties; therefore, it is crucial to investigate the impact of the motion properties--motion time, direction, and velocity--on the V2V channel characteristics in the time, space, and frequency domains. This in principle plays an important role in the design and evaluation of the V2V communication systems [11, 12].
## 3 Results  
### One-DimensionalModel Calibration  
An 8L engine furnished with a comprehensive aftertreatment system (DOC/CSF/SCR/AMOX) was employed to undertake the WHSC cycle test. During the experiment, a standard urea aqueous solution with a concentration of 32.5% was utilized. Nitrogen oxides were measured by an AVL i60 emission analyzer, and ammonia leakage was measured by an ammonia analyzer. The entire experimental procedure was in compliance with the stipulations of GB/T 29518-2013 [22]. The model was calibrated on the basis of the experimental outcomes of the cycle test. The temperature profiles were calibrated by a 1D model previously developed for the Cu-zeolite SCR for the ATS [19] using thermal transfer parameter tuning, and a good correlation of the measured temperature data can be found in Figure 3. Afterwards, this validated model can be used for the following deNOx performance calculation.  
Initially, a simulation was performed using the existing 1D model with average urea dosing across the SCR catalyst inlet as the experimental measurements. The simulated outlet NOx and NH3 emissions do not agree very well with the experimental result, as shown in Figure 4. Several factors could be taken into consideration for this gap. Firstly, it is believed that sometimes the temperature-velocity deviation may result in worse NOx conversion performance. However, a previous study's preliminary investigation [9] has proved that the deNOx performance of the Cu-SCR system is not significantly affected by the non-uniformity of velocity and temperature. Given the insignificant effect of velocity and temperature non-uniformity on the deNOx performance of the Cu-SCR system, and with the good correlation shown in Figure 3, the temperature-velocity deviation factor could be excluded in the following discussion for this case. Secondly, the urea dosing ratio may be below 100% due to operating system variation. As shown in Figure 5, 85%, 90%, and 95% of the urea dosing ratio were estimated and simulations were performed with the obtained cumulative NOx profile. It can be noticed that even with the compatible final  
Figure 3: Temperature profile comparison between experiments and simulations.  
Figure 2: Urea dosing distribution for multi-channel modelling approach.  
NOx emission (95% urea ratio), the transient outlet profile cannot be fitted well during the whole WHTC cycle.
# Configurational Effects on Strain and Doping at Graphene-Silver Nanowire Interfaces
###### Abstract  
Graphene shows substrate-dependent physical and electronic properties. Here, we presented the interaction between single-layer graphene and silver nanowire (AgNW) in terms of physical straining and doping. We observed a snap-through event for single-layer graphene/AgNW at a separation of AgNPs of 55 nm, beyond the graphene suspended over the nanowires. The adhesion force between the Atomic Force Microscopy (AFM) tip apex and the suspended graphene was measured as higher than the conformed one by 1.8 nN. The presence of AgNW modulates the Fermi energy level of graphene and reduces the work function by 0.25 eV, which results in n-type doping. Consequently, a lateral p-n-p junction is formed with single AgNW. The correlation Raman plot between G-2D modes reveals the increment of strain in graphene of 0.05% due to the curvature around AgNW, and 0.01% when AgNW lies on the top of graphene. These results provide essential information in inspecting the physical and electronic influences from AgNW.  
graphene; indium tin oxide; silver nanowire; strain; doping Article
## 2 Results and Discussion  
### Agrobacterium  
_2.1. Agrobacterium_ _sp. IFO 13140 Immobilization in Different Matrices_  
Curdlan production by free and immobilized cells of _Agrobacterium_ sp. IFO 13140 in alginate, loofa sponge and sponge-alginate showed no significant difference (\(p<0.05\)), under specific immobilization conditions: 48 h of incubation, 10 mg of cells and a shaking rate of 150 rpm. There was also no significant difference in curdlan production when the assays were realized over 10 and 15 days for the same matrix. The average curdlan production was 14.87 g/L, and the yield from the total sugars (glucose) was similar for all treatments, at an average of 29.74% (Supplementary Figure S1).  
Curdlan production by immobilized cells on loofa sponge, sponge-alginate and in alginate at 10 days of assay was 14.90, 13.25 and 16.52 g/L, respectively.  
The loofa sponge was chosen to give continuity to this study because of its practical application and economy and because it is a renewable matrix, which fits the concept of sustainability. Furthermore, in contrast to alginate, which requires more sophisticated equipment for immobilization, involving high costs, the immobilization system in loofa sponge is more robust and can simply be done by the addition of a microbial cells suspension in the culture medium containing discs of sponge, which involve low costs and no prior chemical treatment.  
Studies have shown loofa sponge to be a suitable material for cell immobilization. It is highly stable during long-term, repeated use processes. The sponge is made up of an open network of fibrous support with continuous hollow microchannels and approximately 800-mm macropores, giving it the ability to allow quick contact of immobilized cells with the surrounding medium. It is extremely light, having a specific surface area of 850 m\({}^{2}\)/m\({}^{-3}\), a specific gravity of 0.92 g/cm\({}^{-3}\), a high porosity of 79%-93%, an empty volume of 92%, a pore size of 335 \(\pm\) 65 mm and a high specific pore volume of 21-29 cm\({}^{3}\)/g\({}^{-1}\), which together show that the mass transfer in the biomatrix would be high [31].