esa-sceva/satcom-chunk-collection huggingface dataset:
# A Multilevel Switched Capacitor Inverter with Reduced Components and Self-Balance
## 2 Design of Proposed SCMLI
### Modulation Strategy  
A number of modulation strategies have been put forward to control multilevel inverters, such as sinusoidal pulse width modulation (SPWM) [29], nearest level control (NLC) [30], and selective harmonic elimination (SHE) [31]. To reduce the operational complexity and the value of THD, the phase disposition pulse width modulation (PD-PWM) is used to generate the drive signal of the switches, as shown in Figure 4.  
For the proposed 13-level inverter, there are twelve triangular carriers (\(u_{1}\)\(\sim\)\(u_{12}\)) with the same amplitude \(A_{\rm c}\) and frequency \(f_{\rm c}\), which are compared with the sinusoidal reference wave with amplitude \(A_{\rm ref}\) and frequency \(50\) Hz (\(f_{\rm o}\)). The processes of the capacitor charge and discharge in one cycle are also presented. The voltage of capacitors \(C_{1}\) and \(C_{2}\) can be kept at \(V_{\rm dc}\) with the same voltage ripple \(\Delta V_{c1,2}\), and the voltage of capacitor \(C_{3}\) can be kept at \(3~{}V_{\rm dc}\) with the voltage ripple \(\Delta V_{c3}\). The modulation logic of the 13-level inverter is presented in Figure 5. There are five complementary switch pairs and a 13-level output is obtained through logical combinations.  
For the modulation strategy adopted in the proposed topology, the number of output levels is related to the modulation index, and the modulation index \(M\) can be expressed as  
\[M=\frac{A\rm ref}{6~{}Ac}. \tag{1}\]  
Table 2 shows the output voltage levels and the corresponding range of \(M\), which varies between \(0\) and \(1\).  
Figure 4: The PD\(-\)PWM for the 13\(-\)level inverter.  
Figure 5: Modulation logic for the 13-level inverter.
## 3 Experiment Setup  
### Hardware Configuration  
The indirect ToF camera used in this study is an amplitude modulated ToF camera with a resolution of 640 \(\times\) 480 with a 149\({}^{\circ}\) diagonal field of view (FoV). This large FoV can accommodate different seating positions and postures of the driver and can potentially be used to monitor multiple passengers in the vehicle. The active illumination is provided by a pair of 850 nm (we find both 940 and 850 nm illumination to have similar performance in terms of HR measurements) VCSELs with diffusers at eye-safe power. As a prototype, the ToF camera has a form factor of \(~{}15\times 5\times 5\) cm and consumes 5 W average power, which could be further reduced with future packaging improvements. The ToF camera is inherently robust against ambient illumination change: Firstly, the lens of the ToF camera is coated with a bandpass filter at 850 nm to suppress the out-of-band background illumination. At the same time, the underlying lock-in detection principle of the indirect ToF sensor can suppress the residual in-band background illumination [34].  
In our experiment, the ToF camera is mounted in a 2015 Jeep Cherokee near the rearview mirror using an adjustable suction cup mount either facing the driver side of the cabin or the passenger side of the cabin. The ToF camera is positioned at roughly eye level and 50 cm away from the participants. Due to the wide FoV, the ToF can capture the users' face and chest region at the same time (Figure 1). During our experiments, the ToF camera operated at 30 frames per second (FPS) and each measurement records 20 s of video. The frame rate and the measurement time were chosen due to the bandwidth as well as the processing power of the laptop. Longer measurements could be chosen to improve the resolution of the HR/RR measurements at the cost of the recording and processing time. Even though in this study, the HR was measured discretely after each 20 s measurement, the HR measurements can be extracted in a real-time fashion by recording and processing the 3D video in parallel with a rolling time window. The reference HR was measured with an ECG-based Polar H10 chest strap (\(\pm\)1 BPM resolution) (Polar Electro Oy, Kempele, Finland), while the reference RR was measured through a NUL236 Respiration Monitor Belt (\(\pm\)3 BPM resolution based on the recording duration) (Neulog, Israel). The brightness level in the cabin was also recorded with a light meter (MT912, URCERI).  
Figure 1: Experimental configuration for HR/RR measurements in a vehicle with a ToF camera.
## 5 Conclusions  
The biotechnological concept behind the diatom mass cultivation at Finnfjord AS was to apply large diatom species. We did this since large cells have low surface to volume ratios relative to small species, and hence potentially have less biomass specific self-shadowing. This can allow for longer light depths and the use of large simple vertical column photo-bioreactors. Our results demonstrate clear advantages in terms of illumination of the reactor when large cells are applied. At a medium biomass concentration (0.5 cm\({}^{3}\) L\({}^{-1}\)) in the reactor we logged 4.5 times more light at 0.6 m depth when 42 mm cells were used relative to 24 mm cells. At higher biomass concentrations this advantage was even larger. An obvious question is of course if large cells can utilize the light available. At the prevailing cultivation conditions in our 300 m\({}^{3}\) reactor, large cells could, statistically significantly, sustain larger biovolumes at comparable illumination conditions than smaller cells. Large cells also maintained higher production rates, clearly demonstrating the advantages of using large cells. The large cells also contributed most to the obtained high light utilization efficiencies (ca. 19%). This, together with the fact that we were able to sequester factory fume CO\({}_{2}\) and NOx while cultivating nutritious biomass for 4-6 months without contamination, makes our concept highly promising in terms of environmental and economic sustainability. It is clear that an economic and LCA (Life Cycle Assessment) evaluation is critical to ensure the success of a diatom-based industry. This is the focus of another ongoing project where the main application of the biomass is salmon feed. Preliminary results indicate the need for large (diatom) production volumes and possibly higher prices justified by environmentally sustainable production processes. The produced biomass has also been tested with success as an ingredient in lice deterring salmon feed [176].  
Conceptualization, methodology, investigation, writing--original draft preparation, writing--review and editing, H.C.E.; methodology, formal analysis, G.K.E.; methodology, J.-S.B.; methodology, project administration, J.S.; methodology, data curation, E.E.; data curation, formal analysis, K.-E.E.; methodology, data curation, E.S.H.; methodology, I.H.G.; methodology, L.I.; investigation, methodology, J.B.S.; investigation, methodology, L.D.; investigation, methodology, R.O.; writing--review and editing, E.H.; writing--review and editing, R.A.I.; funding acquisition, project administration, G.-H.W. All authors have read and agreed to the published version of the manuscript.  
**Funding:** This research was funded by Norwegian Regional Funds RDA: 551.6; Norwegian Research Council: 321415; Innovation Norway; UiT The arctic university of Norway: UITI; Finnfjord AS.  
**Conflicts of Interest:** The authors declare no conflict of interest.
# Inverse Kinematics of a Serial Manipulator with a Free Joint for Aerial Manipulation
## 4 Simulation Setup
### Simulation Model  
The parameters of the model employed to carry out the numerical validation of the algorithm are referred to real-world equipment available at our laboratory. The UAV base refers to the S1000 Spreading Wings octocopter (depicted in Figure 1) manufactured by DJI (Shenzen, China). Its mass is denoted with \(m_{b}\) and the moment of inertia with \(I_{b}\). Their values are reported in Table 11. The first joint of the manipulator cannot be placed on the UAV CoG because of physical rescitions; the vector \(r_{0}=\{x_{0};z_{0}\}\) from UAV CoG to the first joint is described in Table 11.  
The manipulator parameters refer to the Trossen WidowX 250s Mobile arm. The values for the masses and the moments of inertia of the links were retrieved from the manipulator URDF file that the manufacturer provides on GitHub [30]. Since simulations were performed for a planar problem, we considered only the joints that allow rotations around the axis \(y_{1}\equiv y_{\mathrm{B}}\): shoulder, elbow, and wrist-angle joints. Other physical joints were considered as fixed joints, and inertial parameters of the physical links were merged consequently to construct the equivalent planar model of the manipulator. For the sake of simplicity, the CoGs of the links were considered laying on the connection line between consecutive joints. The inertial parameters (\(m_{i}\),\(I_{i}\)) of the equivalent links, lengths of the equivalent links \(l_{i}\), and distances \(b_{i}\) between the joint \(i\) and the CoG of the equivalent link \(i\) are listed in Table 12.  
Figure 2: Simulation procedure.  
For completeness, joint limits of the equivalent manipulator are reported in Table 14.  
To validate the method for a redundant manipulator, in Section 5.3 simulations are conducted with a 4-links serial manipulator. The additional link has the same dimensions and inertial properties of the first link and is placed between the base and the first link.  
A schematic representation of the UAM system comprising the external forces is illustrated in Figure 3.
## 2 Materials and Methods
### Methods  
#### 2.2.1 Trend and Correlation Analysis  
In our study, we assessed the trends of annual WUE using the least-square regression model during 1982-2015 on a per-pixel basis [44]. A positive value of slope indicated an increasing trend, and vice versa. We applied Pearson correlation coefficient to examine the relationship between WUE and SPEI in China. Previous studies found the lagging effect of drought on ecosystem WUE and the lagging effect meant that previous-year drought could affect current-year WUE in the ecosystem [20; 26; 45]. In order to investigate the lagging effect, we established linear regression models between WUE and current-year SPEI as well as multivariable linear regression models among WUE, current-year, previous-year SPEI on each pixel as follows [20; 26]:  
\[\mathrm{WUE}_{\mathrm{current}}{=}\mathrm{k}\times\mathrm{SPEI}_{\mathrm{ current}}{+}\mathrm{b}, \tag{1}\]  
\[\mathrm{WUE}_{\mathrm{current}}{=}\mathrm{k}_{1}{\times}\mathrm{SPEI}_{ \mathrm{current}}{+}\mathrm{k}_{2}{\times}\mathrm{SPEI}_{\mathrm{previous}}{+} \mathrm{b}, \tag{2}\]  
where \(\mathrm{WUE}_{\mathrm{current}}\) and \(\mathrm{SPEI}_{\mathrm{current}}\) represented current-year WUE and drought, \(\mathrm{SPEI}_{\mathrm{previous}}\) represented previous-year SPEI. \(\mathrm{k}\) (including \(\mathrm{k}_{1}\) and \(\mathrm{k}_{2}\)) and \(\mathrm{b}\) were slope and intercept of linear model, respectively. Akaike Information Criterion (AIC) was applied to assess the degree of fitting optimization and to determine whether the inclusion of previous-year SPEI improved the regression model between WUE and SPEI [46]. If the difference of AIC values between Equations (1) and (2) was higher than 2, the Equation (2) is optimized [47; 48].
# A Cache Placement Strategy with Energy Consumption Optimization in Information-Centric Networking
## 3 An Energy Consumption Optimization for ICN
### Cache Placement Algorithm Based on Energy Consumption Optimization  
Firstly, the first node \(v\) is randomly selected. Each user observes the energy consumed for obtaining content from the node. The second node \(v_{y}\) is randomly selected, and the user group observes the energy consumption needed to obtain the content from the node. Comparison of energy consumption observed at two different nodes results in energy saving. If the energy saving is greater than or equal to the maximum expected energy benefit \(W^{*}\), node \(v_{y}\) is selected as the cache node and the user stops the observation. If the node meeting the requirement has not been found within a limited number of node changes, the first node \(v\) is selected as the cache node by default. In ICN, thiscaching strategy is used to select the best cache placement node for caching content. To ensure that the content is transmitted on the most energy efficient routing, the cache placement strategy based on energy optimization is implemented. The cache placement policy based on energy consumption optimization is specifically described as follows (Algorithm 1).  
```
Input:\(c_{k}\), \(m\), area, \(P_{c}\), \(\tau\), etc; Output:\(v\); /* Cache placement node */ Begin
1:\(W^{*}\) =\(L\)-area '2/3-\(P_{c}\); /* Calculate expectation */
2:\(n\gets 1\), \(E^{*}=0\); /* Number of node and energy savings initialized */
3:for\(1\leq i\leq n\)do
4: Observation of random variables \(d_{i}\);
5: stop\(\leftarrow\) false; /* observing */
6:if\((d_{1}-d_{i})\geq W\)then
7:\(r_{i}=E_{1}-E_{i}\);
8:if\(E^{*}<r_{i}\)then
9:\(E^{*}=r_{i}\);
10:\(v\gets v_{i}\);
11:endif
12: stop\(\leftarrow\) true;
13: break;
14:endif /* stop detecting */
15:endfor
16:if\((\)stop &&\(i=n)\)then /* The node is satisfied and the condition is not found */
17:\(v\gets v_{1}\);
18:endif
19:return\(v\)
20:endif
21:end
```  
**Algorithm 1** ESCPS
## 5 Experiment Results
### Dataset Detail and Scenario Description
Each dataset corresponds to a different number of tasks, with 20 experiments conducted for each dataset to evaluate system performance under diverse satellite configurations and task loads.
## 4 Conclusions  
In this work, a new technology for economic pretreating the corncobs via reusing the pretreatment liquid was proposed. By analyzing the soluble proteins in the pretreated liquid, it was found that the pretreatment liquid with a pH value of 3.1-3.2 exhibits nearly equivalent effect on removing the soluble proteins from corncob as compared to the newly added liquid. The increments of soluble proteins in the solution for three reuse rounds of the pretreatment liquid are in negligible difference comparing to the increment of the soluble proteins in the solution after pretreatment of the corncob with the new added liquid, demonstrating that the pretreatment liquid can be reused for effectively removing soluble proteins from the corncob. From analysis of metal ions in the pretreatment liquid, the increment of total amount of metal ions in the solution drops only a little after the pretreatment liquid is reused for three rounds. The negligible drops of the amount of total metal ions found in the pretreatment liquid reused for three rounds comparing to those only after once use can ensure the reuse of the pretreatment liquid for effectively removing metal ions from the corncob. Furthermore, the surface morphology of the corncob obtained after three reuse rounds of the pretreatment liquid exhibits no significant difference compared to the surface morphology of the corncob pretreated by the new pretreatment liquid, with smoother and more porous surfaces than that of the corncob raw material. The number of reuses of the corncob pretreatment liquid can be determined by the combination of removal effects of both soluble protein and metal ions in the corncob. The proposed process provides a guideline for diminishing both acid and water consumption, allowing for the economic and environmentally friendly pretreatment of corncobs with reduced pollutant emission.  
Funding acquisition, Y.W.; Conceptualization Y.W. and L.G.; Methodology, Y.W., L.G. and Y.H.; Data acquisition, Y.H.; Investigation, Y.W., P.Q. and L.G.; Original draft writing, Y.W. and L.G.; Review and editing, Y.W., P.Q. and L.G.; supervision, L.G.  
This research was supported by the National Nature Science Fund Program of China (Project number 21808116).  
The authors declare no conflict of interest.  
Figure 4: Comparison of surface morphology for (**a**) unpretreated corncobs; (**b**) corncobs pretreated by the pretreatment liquid for three reuse rounds and; (**c**) corncobs pretreated by the new added pretreatment liquid. SEM images of (**a,c**) are taken from our previously published work [26].
## 3 Results and Discussion
### Effect of the Culture Conditions on the Pollutant Elimination
#### 3.2.2 Effect of Inoculum Concentration on the Removal of CBZ  
To further clarify the effect of inoculum concentration, a new set of experiments was carried out in order to follow the effect of the initial inoculum concentrations (\(10^{4}\) and \(10^{5}\) cells/mL) on the elimination of CBZ. The tests were carried out at both initial concentrations of CBZ (2.5 and 10 mg/L) and in both media (BB and PP). By comparing the HPLC data, it was shown that the removal yield of CBZ was enhanced and that the onset of CBZ elimination was forwarded by the highest initial _A. braunii_ inoculum concentration (\(10^{5}\) cells/mL) in both culture media and for both CBZ initial concentrations (Figure 3a,b).  
For example, it was shown in these figures that in BB medium for the same initial CBZ concentration of 2.5 mg/L, an increase in the removal of CBZ from 80% to the highest elimination percentage attained of 87% in this work was observed after 60 days of incubation when the concentration of _A. braunii_ increased from \(10^{4}\) to \(10^{5}\) cells/mL. However, it must be pointed out that the increase in removal yield due to higher inoculum content from \(10^{4}\) to \(10^{5}\) cells/mL never exceeded 8%, whatever the removal yield, and that it never approached complete removal. This may be explained as follows: While the additional amount of the eliminating agent, the algae, led to an improved elimination of CBZ, the medium was exhausted more rapidly due to a stronger competition on nutritive sources. As a result, the algae started more rapidly to consume CBZ as the only possible nutritional source, and a higher quantity of algae was removed from the water, but toxic effects of CBZ also grew simultaneously and prevented a complete elimination of this molecule.  
In conclusion, CBZ removal could be enhanced by increasing the initial inoculum concentration and, more generally, by increasing the concentration of algae in both media, even though a complete elimination could not be achieved. It is important to notice that the concentrations tested in this work were higher than those presented in the influents of the wastewater treatment plants (in the ug/L range). However, it is also important to take into account that pharmaceuticals are not always detected at trace levels. Thus, in their work, [PERSON] et al. (2018) reported high concentrations of pharmaceutical compounds for effluents from the healthcare industry: some of the mentioned molecules exhibited concentrations of the same order of magnitude as in this study (concentrations levels of 28, 2.4, and 1.3 mg/L were detected for ciprofloxacin, losartan, and cetirizine, respectively). The main objective of our work at this point was to evaluate if the considered algae are able to degrade this refractory pharmaceutical compound. The next step will be focused on the design of degradation tests in culture conditions closer to the real ones (micropollutant concentration, pH, temperature, and real wastewater).
# Decoupling Control of Multi-DOF Supporting System of MLDSB
## 5 MATLAB\(\backslash\)Simulink Simulation  
Based on the Simulink development platform, the MLDSB is taken as the controlled object, and the block diagram using the state feedback approach is shown in Figure 9. The matrix-vector model is adapted in gains, and the solution methods of matrix \(\mathbf{A}\), \(\mathbf{B}\), \(\mathbf{C}\)  
Figure 9: Root locus after correction.  
\(\mathbf{K}\), and \(\mathbf{H}\) are shown in Equations (11)-(27). To observe the decoupling effect, the double differential module is added after decoupling [22; 23].  
According to Figure 10, taking the step signal as an example at the initial stage (V = 1 A, \(t\) = 1 s), the simulation curves are shown in Figure 11.  
According to Equation (28), the diagonal element of the output is \(1/s^{2}\), and its output matrix is a negative identity matrix after two differentials. According to Figure 10, it can be observed that each channel of the system is given at 1 s, after the step signal was given, each position was adjusted to 1 mm after about 0.08 s.  
After comparison, the results were consistent with the theoretical calculation results.  
The decoupling simulation of the system requires that the system has the ability to distinguish between output signals when the input terminal gives different signals, so it is necessary to determine the decoupling effect by different waveforms given at the input terminal of the different channels in the system. The signal input is shown in Figure 12.  
Figure 11: Displacement of the rotor under a step signal.  
Figure 10: Simulink block diagram.  
The output response of the decoupled system is shown in Figure 13.  
It can be seen from Figure 13 that after different input signals are input into different channels, the corresponding channels can produce relative output changes which have a slight influence on the remaining channels. In other words, the decoupling between the displacement changes and the input signals of the multi-DOF system of the MLDSB can be achieved.  
The block diagram after adding displacement feedback is shown in Figure 14.  
Figure 12: Input signal.  
Figure 13: Displacement of the rotor under the input signal.  
By setting the reference displacement to 10 \(\upmu\)m and external interference to 200 N, the above block diagram is simulated. The output response curve of the displacement of the single-DOF system is shown in Figure 15.  
According to Figure 14, the system tends to stabilize at the desired displacement of 10 \(\upmu\)m at 0.1 ms after loading. With a load interference force of 200 N after 5 ms, the rotor of the system changes by 10 \(\upmu\)m, which is much less than the gap of 30 \(\upmu\)m. When the external disturbance disappeared, the output response of the rotor displacement is reduced to the expected value. The change conforms to the expected conditional value.