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Numerous wearable robots have been developed to meet the demands of physical assistance and entertainment. These wearable robots range from body-enhancing types that assist human arms and legs to body-extending types that have extra arms. This study focuses specifically on wearable robots of the latter category, aimed at bodily extension. However, they have not yet achieved the level of powerfulness and reachability equivalent to that of human limbs, limiting their application to entertainment and manipulation tasks involving lightweight objects. Therefore, in this study, we develop an body-extending wearable robot, Vlimb, which has enough powerfulness to lift a human and can perform manipulation. Leveraging the advantages of tendon-driven mechanisms, Vlimb incorporates a wire routing mechanism capable of accommodating both delicate manipulations and robust lifting tasks. Moreover, by introducing a passive ring structure to overcome the limited reachability inherent in tendon-driven mechanisms, Vlimb achieves both the powerfulness and reachability comparable to that of humans. This paper outlines the design methodology of Vlimb, conducts preliminary manipulation and lifting tasks, and verifies its effectiveness.

In this paper, we propose the concept of $(\pm)$-discrete Dirac structures over a manifold, where we define $(\pm)$-discrete two-forms on the manifold and incorporate discrete constraints using $(\pm)$-finite difference maps. Specifically, we develop $(\pm)$-discrete induced Dirac structures as discrete analogues of the induced Dirac structure on the cotangent bundle over a configuration manifold, as described by Yoshimura and Marsden (2006). We demonstrate that $(\pm)$-discrete Lagrange--Dirac systems can be naturally formulated in conjunction with the $(\pm)$-induced Dirac structure on the cotangent bundle. Furthermore, we show that the resulting equations of motion are equivalent to the $(\pm)$-discrete Lagrange--d'Alembert equations proposed in Cort\'es and Mart\'inez (2001) and McLachlan and Perlmutter (2006). We also clarify the variational structures of the discrete Lagrange--Dirac dynamical systems within the framework of the $(\pm)$-discrete Lagrange--d'Alembert--Pontryagin principle. Finally, we validate the proposed discrete Lagrange--Dirac systems with some illustrative examples of nonholonomic systems through numerical tests.

Wearable robots are designed to be worn on the human body. Taking advantage of their physical form, various applications for wearable robots are being considered. This study proposes a wearable robot worn on the abdomen and a new interaction with it. Our robot enables a variety of applications related to communication between the wearer and surrounding humans through visual and tactile feedback. The contributions of this research will be (1) the proposal of a novel wearable robot worn on the abdomen and (2) a new interaction with it., Comment: Part of proceedings of 6th International Conference AsiaHaptics 2024

An ecosystem of Transformer-based models has been established by building large models with extensive data. Parameter-efficient fine-tuning (PEFT) is a crucial technology for deploying these models to downstream tasks with minimal cost while achieving effective performance. Recently, Mamba, a State Space Model (SSM)-based model, has attracted attention as a potential alternative to Transformers. While many large-scale Mamba-based models have been proposed, efficiently adapting pre-trained Mamba-based models to downstream tasks remains unexplored. In this paper, we conduct an exploratory analysis of PEFT methods for Mamba. We investigate the effectiveness of existing PEFT methods for Transformers when applied to Mamba. We also modify these methods to better align with the Mamba architecture. Additionally, we propose new Mamba-specific PEFT methods that leverage the distinctive structure of Mamba. Our experiments indicate that PEFT performs more effectively for Mamba than Transformers. Lastly, we demonstrate how to effectively combine multiple PEFT methods and provide a framework that outperforms previous works. To ensure reproducibility, we will release the code after publication.

Thermodynamic force and irreversible current are the foundational concepts of classical nonequilibrium thermodynamics. Entropy production rate is provided by their product in classical systems, ranging from mesoscopic to macroscopic systems. However, there is no complete quantum extension of such a structure that respects quantum mechanics. In this paper, we propose anti-Hermitian operators that represent currents and forces accompanied by a gradient structure in open quantum systems described by the quantum master equation. We prove that the entropy production rate is given by the product of the force and current operators, which extends the canonical expression of the entropy production rate in the classical systems. The framework constitutes a comprehensive analogy with the nonequilibrium thermodynamics of discrete classical systems. We also show that the structure leads to the extensions of some results in stochastic thermodynamics: the geometric housekeeping-excess decomposition of entropy production and thermodynamic trade-off relations such as the thermodynamic uncertainty relation and the dissipation-time uncertainty relation. In discussing the trade-off relations, we will introduce a measure of fluctuation, which we term the quantum diffusivity., Comment: 24 pages, 5 figures

Thorium-229, with its exceptionally low-energy nuclear excited state, is a key candidate for developing nuclear clocks. $^{229}$Th-doped CaF$_2$ crystals, benefiting from calcium fluoride's wide band gap, show great promise as solid-state nuclear clock materials. These crystals are excited by vacuum ultraviolet (VUV) lasers, which over time cause radiation damage. Cooling the crystals can mitigate this damage but introduces a challenge: photoabsorption. This occurs when residual gas molecules condense on the crystal surface, absorbing VUV photons and deteriorating detection efficiency. To solve this, we developed a cooling technique using a copper shield to surround the crystal, acting as a cold trap. This prevents ice-layer formation, even at temperatures below $-100\,^\circ$C, preserving high VUV photon detection efficiency. Our study detailed the experimental cooling setup and demonstrated the effectiveness of the copper shield in maintaining crystal performance, a critical improvement for future solid-state nuclear clocks operating at cryogenic temperatures., Comment: 5 figures

The ferroelectric phase transition in barium titanate under pressure was studied within the framework of Landau-Ginzburg theory using differential scanning calorimetry. An innovative method for high-sensitive thermal measurements under pressure was demonstrated. It was shown that the relaxation process proceeds nonmonotonically with the formation of intermediate short-lived phases. It was established that polydomain ordering is preferred but the monodomenization of the sample is possible under certain conditions. A narrowing of the temperature hysteresis with increasing pressure was revealed. A new tricritical point in barium titanate crystals characterizing the changing of the phase transition has been experimentally determined and theoretically confirmed.

Deep learning has achieved great success in modeling dynamical systems, providing data-driven simulators to predict complex phenomena, even without known governing equations. However, existing models have two major limitations: their narrow focus on mechanical systems and their tendency to treat systems as monolithic. These limitations reduce their applicability to dynamical systems in other domains, such as electrical and hydraulic systems, and to coupled systems. To address these limitations, we propose Poisson-Dirac Neural Networks (PoDiNNs), a novel framework based on the Dirac structure that unifies the port-Hamiltonian and Poisson formulations from geometric mechanics. This framework enables a unified representation of various dynamical systems across multiple domains as well as their interactions and degeneracies arising from couplings. Our experiments demonstrate that PoDiNNs offer improved accuracy and interpretability in modeling unknown coupled dynamical systems from data.

In this paper, we focus on the kangaroo, which has powerful legs capable of jumping and a soft and strong tail. To incorporate these unique structure into a robot for utilization, we propose a design method that takes into account both the feasibility as a robot and the kangaroo-mimetic structure. Based on the kangaroo's musculoskeletal structure, we determine the structure of the robot that enables it to jump by analyzing the muscle arrangement and prior verification in simulation. Also, to realize a tail capable of body support, we use an articulated, elastic structure as a tail. In order to achieve both softness and high power output, the robot is driven by a direct-drive, high-power wire-winding mechanism, and weight of legs and the tail is reduced by placing motors in the torso. The developed kangaroo robot can jump with its hind legs, moving its tail, and supporting its body using its hind legs and tail., Comment: accepted at IROS2023

Muscles of the human body are composed of tiny actuators made up of myosin and actin filaments. They can exert force in various shapes such as curved or flat, under contact forces and deformations from the environment. On the other hand, muscles in musculoskeletal robots so far have faced challenges in generating force in such shapes and environments. To address this issue, we propose Patterned Structure Muscle (PSM), artificial muscles for musculoskeletal robots. PSM utilizes patterned structures with anisotropic characteristics, wire-driven mechanisms, and is made of flexible material Thermoplastic Polyurethane (TPU) using FDM 3D printing. This method enables the creation of various shapes of muscles, such as simple 1 degree-of-freedom (DOF) muscles, Multi-DOF wide area muscles, joint-covering muscles, and branched muscles. We created an upper arm structure using these muscles to demonstrate wide range of motion, lifting heavy objects, and movements through environmental contact. These experiments show that the proposed PSM is capable of operating in various shapes and environments, and is suitable for the muscles of musculoskeletal robots., Comment: accepted at IROS2024

The complex ways in which humans utilize their bodies in sports and martial arts are remarkable, and human motion analysis is one of the most effective tools for robot body design and control. On the other hand, motion analysis is not easy, and it is difficult to measure complex body motions in detail due to the influence of numerous muscles and soft tissues, mainly ligaments. In response, various musculoskeletal simulators have been developed and applied to motion analysis and robotics. However, none of them reproduce the ligaments but only the muscles, nor do they focus on the shoulder complex, including the clavicle and scapula, which is one of the most complex parts of the body. Therefore, in this study, a detailed simulation model of the shoulder complex including ligaments is constructed. The model will mimic not only the skeletal structure and muscle arrangement but also the ligament arrangement and maximum muscle strength. Through model predictive control based on the constructed simulation, we confirmed that the ligaments contribute to joint stabilization in the first movement and that the proper distribution of maximum muscle force contributes to the equalization of the load on each muscle, demonstrating the effectiveness of this simulation., Comment: accepted at IROS2024, websites - https://sahara-yuta.github.io/projects/shoulder-complex-simulation

This paper presents opt-in camera, a concept of privacy-preserving camera systems capable of recording only specific individuals in a crowd who explicitly consent to be recorded. Our system utilizes a mobile wireless communication tag attached to personal belongings as proof of opt-in and as a means of localizing tag carriers in video footage. Specifically, the on-ground positions of the wireless tag are first tracked over time using the unscented Kalman filter (UKF). The tag trajectory is then matched against visual tracking results for pedestrians found in videos to identify the tag carrier. Technically, we devise a dedicated trajectory matching technique based on constrained linear optimization, as well as a novel calibration technique that handles wireless tag-camera calibration and hyperparameter tuning for the UKF, which mitigates the non-line-of-sight (NLoS) issue in wireless localization. We realize the proposed opt-in camera system using ultra-wideband (UWB) devices and an off-the-shelf webcam installed in the environment. Experimental results demonstrate that our system can perform opt-in recording of individuals in near real-time at 10 fps, with reliable identification accuracy for a crowd of 8-23 people in a confined space., Comment: 7 pages, 6 figures, submitted to international conference on robotics and automation (ICRA) 2025

In this work the Coulomb effects (Coulomb correlations) in $\pi^+\pi^-$ pairs produced in p + Ni collisions at 24 GeV/$c$, are studied using experimental $\pi^+\pi^-$ pair distributions in $Q$, the relative momentum in the pair center of mass system (c.m.s), and its projections $Q_L$ (longitudinal component) and $Q_t$ (transverse component) relative to the pair direction in the laboratory system (l.s.). The $Q$, $Q_L$, and $Q_t$ distributions of the {\sl Coulomb pairs} in the c.m.s. have been simulated assuming they are described by the phase space modified by the known point-like Coulomb correlation function $A_C(Q)$, corrected for small effects due to the nonpoint-like pair production and the strong two-pion interaction. The same distributions of {\sl non-Coulomb pairs} have been simulated according to the phase space, but without $A_C(Q)$. It is shown that the number of {\sl Coulomb pairs} in all $Q_t$ intervals, including the small $Q_t$ (small opening angles $\theta$ in the l.s.) is calculated with the theoretical precision better than 2\%. The comparison of the simulated and experimental numbers of {\sl Coulomb pairs} at small $Q_t$ allows us to check and correct the detection efficiency for the pairs with small $\theta$ (0.06 mrad and smaller). It is shown that {\sl Coulomb pairs} can be used as a new physical tool to check and correct the quality of the simulated events. The special property of the {\sl Coulomb pairs} is the possibility of checking and correcting the detection efficiency, especially for the pairs with small opening angles.

This work studies $\bar{p}$-Ca atom spectra in light of the strong shifts and level widths, using the optical model with several types of parametric coefficients. The spectroscopic quantities are obtained as the eigenvalues of the Dirac equation, where the nuclear densities computed via nuclear Density Functional Theory and the effect of the anomalous magnetic moment are incorporated. The results indicate that the isovector term's contribution to the optical potential is crucial for explaining the systematical differences in the strong shifts between $^{40}$Ca and $^{48}$Ca. Furthermore, it is found that both the strong shifts and the level widths exhibit significant dependence on the nuclear density profiles. These findings provide critical insights into the nuclear structures, particularly in the context of Calcium isotopes, by offering a more comprehensive understanding of the underlying nuclear-hadron properties., Comment: 11 pages, 4 figures, 12 tables

We propose a mechanism of preheating stage after inflation, using a new idea of parametrically amplified super-radiance. Highly coherent state, characterized by macro-coherence of scalar field coupled to produced massless particle in pairs, is created by parametric resonance effects associated with field oscillation around its potential minimum, within a Hubble volume. The state is described effectively by the simple Dicke-type of super-radiance model, and super-radiant pulse is emitted within a Hubble time, justifying neglect of cosmic expansion. Produced particles are shown to interact to change their energy and momentum distribution to realize thermal hot big bang universe. A long standing problem of heating after inflation may thus be solved. A new dark matter candidate produced at the emergence of thermalized universe is suggested as well., Comment: 7 pages, 2 figures, accepted form for journal publication; explanations are substantially improved from the first version

Nb$_3$Cl$_8$, a cluster Mott insulator with a distinctive magnetic molecular orbital structure organized into a breathing kagome lattice, showcases critical phase transitions under specialized conditions. By transitioning from paramagnetic to nonmagnetic states below 90 K, we clarified this behavior through combined nuclear magnetic resonance and low-temperature X-ray diffraction studies, pointing to charge disproportionation as the driving force. Subsequent investigations via angle-resolved photoemission spectroscopy and first-principles calculations have disclosed topologically flat bands, confirming advanced electronic characteristics in Nb$_3$Cl$_8$. These discoveries not only deepen our comprehension of Mott insulators but also broaden our grasp of the dynamic interrelations among topology, electron interactions, and quantum phenomena in two-dimensional systems. The research on Nb$_3$Cl$_8$ thus lays foundational knowledge for advancing the exploration of quantum states in complex material systems, marking it as a critical model in the ongoing evolution of condensed matter physics., Comment: 16pages, 12figures

In this study, we investigate the decoherence of a spatially superposed electrically neutral spin-$\frac12$ particle in the presence of a relativistic quantum electromagnetic field in Minkowski spacetime. We demonstrate that decoherence due to the spin-magnetic field coupling can be categorized into two distinct factors: local decoherence, originating from the two-point correlation functions along each branch of the superposed trajectories, and nonlocal decoherence, which arises from the correlation functions between the two superposed trajectories. These effects are linked to phase damping and amplitude damping. We also show that if the quantum field is prepared in a thermal state, decoherence monotonically increases with the field temperature., Comment: (v1)17 pages, 4 figures (v2) updated: published version

AI Infrastructure plays a key role in the speed and cost-competitiveness of developing and deploying advanced AI models. The current demand for powerful AI infrastructure for model training is driven by the emergence of generative AI and foundational models, where on occasion thousands of GPUs must cooperate on a single training job for the model to be trained in a reasonable time. Delivering efficient and high-performing AI training requires an end-to-end solution that combines hardware, software and holistic telemetry to cater for multiple types of AI workloads. In this report, we describe IBM's hybrid cloud infrastructure that powers our generative AI model development. This infrastructure includes (1) Vela: an AI-optimized supercomputing capability directly integrated into the IBM Cloud, delivering scalable, dynamic, multi-tenant and geographically distributed infrastructure for large-scale model training and other AI workflow steps and (2) Blue Vela: a large-scale, purpose-built, on-premises hosting environment that is optimized to support our largest and most ambitious AI model training tasks. Vela provides IBM with the dual benefit of high performance for internal use along with the flexibility to adapt to an evolving commercial landscape. Blue Vela provides us with the benefits of rapid development of our largest and most ambitious models, as well as future-proofing against the evolving model landscape in the industry. Taken together, they provide IBM with the ability to rapidly innovate in the development of both AI models and commercial offerings., Comment: Corresponding Authors: Talia Gershon, Seetharami Seelam,Brian Belgodere, Milton Bonilla

We consider the hydrodynamic origin of anomalous current fluctuations in a family of stochastic charged cellular automata. Using ballistic macroscopic fluctuation theory, we study both typical and large fluctuations of the charge current and reproduce microscopic results which are available for the deterministic single-file limit of the models. Our results indicate that in general initial fluctuations propagated by Euler equations fully characterize both scales of anomalous fluctuations. For stochastic dynamics, we find an additional contribution to typical fluctuations and conjecture the functional form of the typical probability distribution, which we confirm by numerical simulations., Comment: v1:6 + 17 pages, 2 + 2 figures, v2:minor changes, additional references

We present an experimental investigation of the magnetic ground state in Ba$_4$NbIr$_3$O$_{12}$, a fractional valent trimer iridate. X-ray absorption and photoemission spectroscopy show that the Ir valence lies between 3+ and 4+ while Nb is pentavalent. Combined dc/ac magnetization, specific heat, and muon spin rotation/relaxation ($\mu$SR) measurements reveal no magnetic phase transition down to 0.05~K. Despite a significant Weiss temperature ($\Theta_{\mathrm{W}} \sim -15$ to $-25$~K) indicating antiferromagnetic correlations, a quantum spin-liquid (QSL) phase emerges and persists down to 0.1~K. This state likely arises from geometric frustration in the edge-sharing equilateral triangle Ir network. Our $\mu$SR analysis reveals a two-component depolarization, arising from the coexistence of rapidly (90\%) and slowly (10\%) fluctuating Ir moments. Powder x-ray diffraction and Ir-L$_3$edge x-ray absorption fine structure spectroscopy identify ~8-10\% Nb/Ir site-exchange, reducing frustration within part of the Ir network, and likely leading to the faster muon spin relaxation, while the structurally ordered Ir ions remain highly geometrically frustrated, giving rise to the rapidly spin-fluctuating QSL ground state. At low temperatures, the magnetic specific heat varies as $\gamma T + \alpha T^2$, indicating gapless spinon excitations, and possible Dirac QSL features with linear spinon dispersion, respectively., Comment: 27 pages, 15 figures

We confront measurable neutrino degrees of freedom $N_{\rm eff}$ and summed neutrino mass in the early universe to particle physics at the energy scale beyond the standard model (BSM), in particular including the issue of neutrino mass type distinction. The Majorana-type of massive neutrino is perfectly acceptable by Planck observations, while the Dirac-type neutrino may survive in a restricted class of models that suppresses extra right-handed contribution to $\Delta N_{\rm eff} = N_{\rm eff} - 3$ at a nearly indistinguishable level from the Majorana case. There is a chance that supersymmetry energy scale may be identified in supersymmetric extension of left-right symmetric model if improved $N_{\rm eff}$ measurements discover a finite value. Combined analysis of this quantity with the summed neutrino mass helps to determine the neutrino mass ordering pattern, if measurement accuracy of order, $60 \sim 80\,$meV, is achieved, as in CMB-S4., Comment: Accepted version in JCAP

Probing the quantum geometry and topology in condensed matter systems has relied heavily on static electronic transport experiments in magnetic fields. Yet, contact-free optical measurements have rarely been explored. Magnetic dichroism (MCD), the nonreciprocal absorption of circular polarized light, was theoretically linked to the quantized anomalous Hall effect in magnetic insulators and can identify the bands and momenta responsible for the underlying Berry Curvature (BC). Detecting BC through MCD faces two challenges: First, the relevant inter-band transitions usually generate MCD in the infrared (IR) range, requiring large samples with high quality. Second, while most magnetic materials are metallic, the relation between MCD and BC in metals remains unclear. Here, we report the observation of MCD in the IR range along with the anomalous Hall effect in thin film MnBi2Te4. Both phenomena emerge with a field-driven phase transition from an antiferromagnet to a canted ferromagnet. By theoretically relating the MCD to the anomalous Hall effect via BC in a metal, we show that this transition accompanies an abrupt onset of BC, signaling a topological phase transition from a topological insulator to a doped Chern insulator. Our density functional theory calculation suggests the MCD signal mainly originates from an optical transition at the Brillouin zone edge, hinting at a potential new source of BC away from the commonly considered {\Gamma} point. Our findings demonstrate a novel experimental approach for detecting BC and identifying the responsible bands and momenta, generally applicable to magnetic materials.

We propose a scenario that can explain the early-time inflation and the late-time dark energy within a unified framework. A scalar potential combining power-law and exponential type in a context of extended Jordan-Brans-Dicke gravity is critically important for this realization. A realistic scenario can be achieved in a two-field model in which one directional motion in field space realizes the slow-roll inflation. The inflaton ends up with oscillatory period and turns its direction to another direction that is identified as the quintessence field, giving rise to the dark energy at late times. The inflaton oscillation is expected to realize efficient heating if parametric amplification works. Along the quintessence direction, the present universe is on the way to reach the asymptotic fixed point. We search for successful parameter region, taking potential function in the form of low-order field powers times decreasing exponential in two dimensional field space., Comment: 21 pages, 12 figures, Version accepted for publication in Physical Review D

The Super-Kamiokande and T2K collaborations present a joint measurement of neutrino oscillation parameters from their atmospheric and beam neutrino data. It uses a common interaction model for events overlapping in neutrino energy and correlated detector systematic uncertainties between the two datasets, which are found to be compatible. Using 3244.4 days of atmospheric data and a beam exposure of $19.7(16.3) \times 10^{20}$ protons on target in (anti)neutrino mode, the analysis finds a 1.9$\sigma$ exclusion of CP-conservation (defined as $J_{CP}=0$) and a preference for the normal mass ordering., Comment: 12 pages, 4 figures

Sulphur-bearing species are detected in various environments within Galactic star-forming regions and are particularly abundant in the gas phase of outflows and shocks, and photo-dissociation regions. In this work, we aim to investigate the nature of the emission from the most common sulphur-bearing species observable at millimetre wavelengths towards the nuclear starburst of the galaxy NGC 253. We intend to understand which type of regions are probed by sulphur-bearing species and which process(es) dominate(s) the release of sulphur into the gas phase. We used the high-angular resolution (1.6" or 27 pc) observations from the ALCHEMI ALMA Large Program to image several sulphur-bearing species towards the central molecular zone (CMZ) of NGC 253. We performed local thermodynamic equilibrium (LTE) and non-LTE large velocity gradient (LVG) analyses to derive the physical conditions of the gas in which S-bearing species are emitted, and their abundance ratios across the CMZ. Finally, we compared our results with previous ALCHEMI studies and a few selected Galactic environments. We found that not all sulphur-bearing species trace the same type of gas: strong evidence indicates that H2S and part of the emission of OCS, H2CS, and SO, are tracing shocks whilst part of SO and CS emission rather trace the dense molecular gas. For some species, such as CCS and SO2, we could not firmly conclude on their origin of emission. The present analysis indicates that the emission from most sulphur-bearing species throughout the CMZ is likely dominated by shocks associated with ongoing star formation. In the inner part of the CMZ where the presence of super star clusters was previously indicated, we could not distinguish between shocks or thermal evaporation as the main process releasing the S-bearing species., Comment: 44 pages, 20 figures, Accepted for publication in A&A

The radioisotope Th-229 is renowned for its extraordinarily low-energy, long-lived nuclear first-excited state. This isomeric state can be excited by VUV lasers and the transition from the ground state has been proposed as a reference transition for ultra-precise nuclear clocks. Such nuclear clocks will find multiple applications, ranging from fundamental physics studies to practical implementations. Recent investigations extracted valuable constraints on the nuclear transition energy and lifetime, populating the isomer in stochastic nuclear decay of U-233 or Ac-229. However, to assess the feasibility and performance of the (solid-state) nuclear clock concept, time-controlled excitation and depopulation of the $^{229}$Th isomer together with time-resolved monitoring of the radiative decay are imperative. Here we report the population of the $^{229}$Th isomeric state through resonant X-ray pumping and detection of the radiative decay in a VUV transparent $^{229}$Th-doped CaF$_2$ crystal. The decay half-life is measured to $447\pm 25$ s, with a transition wavelength of $148.18 \pm 0.42$ nm and a radiative decay fraction consistent with unity. Furthermore, we report a new ``X-ray quenching'' effect which allows to de-populate the isomer on demand and effectively reduce the half-life by at least a factor 50. Such controlled quenching can be used to significantly speed up the interrogation cycle in future nuclear clock schemes. Our results show that full control over the $^{229}$Th nuclear isomer population can be achieved in a crystal environment. In particular, non-radiative decay processes that might lead to a broadening of the isomer transition linewidth are negligible, paving the way for the development of a compact and robust solid-state nuclear clock. Further studies are needed to reveal the underlying physical mechanism of the X-ray quenching effect., Comment: 14 pages with 8 figures and 2 tables

The smooth muscle bundles (SMBs) in the bladder act as contractile elements which enable the bladder to void effectively. In contrast to skeletal muscles, these bundles are not highly aligned, rather they are oriented more heterogeneously throughout the bladder wall. In this work, for the first time, this regional orientation of the SMBs is quantified across the whole bladder, without the need for optical clearing or cryosectioning. Immunohistochemistry staining was utilized to visualize smooth muscle cell actin in multiphoton microscopy (MPM) images of bladder smooth muscle bundles (SMBs). Feature vectors for each pixel were generated using a range of filters, including Gaussian blur, Gaussian gradient magnitude, Laplacian of Gaussian, Hessian eigenvalues, structure tensor eigenvalues, Gabor, and Sobel gradients. A Random Forest classifier was subsequently trained to automate the segmentation of SMBs in the MPM images. Finally, the orientation of SMBs in each bladder region was quantified using the CT-FIRE package. This information is essential for biomechanical models of the bladder that include contractile elements.

Thermal switches, which electrically turn heat flow on and off, have attracted attention as thermal management devices. Electrochemical reduction/oxidation switches the thermal conductivity (\k{appa}\) of active metal oxide films. The performance of the previously proposed electrochemical thermal switches is low; on/off \k{appa}\-ratio is mostly less than 5 and \k{appa}\-switching width is less than 5 W/mK. We used CeO2 thin film as the active layer deposited on a solid electrolyte YSZ substrate. When the CeO2 thin film was reduced once (off-state) and then oxidized (on-state), \k{appa}\ was about 2.2 W/mK in the most reduced state, and \k{appa}\ increased with oxidation to 12.5 W/mK (on-state). This reduction (off-state)/oxidation (on-state) cycle was repeated 100 times and the average value of \k{appa}\ was 2.2 W/mK after reduction (off-state) and 12.5 W/mK after oxidation (on-state). The on/off \k{appa}\-ratio was 5.8 and \k{appa}\-switching width was 10.3 W/mK. The CeO2-based solid-state electrochemical thermal switches would be potential devices for thermal shutters and thermal displays., Comment: 19 pages, 7 figures with supporting information (12 pages, 11 figures, 1 table)

ALMA data toward QSO J1851+0035 ($l$=$33.498^{\circ}$, $b$=$+0.194^{\circ}$) were used to study absorption lines by Galactic molecular gas. We detected 17 species (CO, $^{13}$CO, C$^{18}$O, HCO$^+$, H$^{13}$CO$^+$, HCO, H$_2$CO, C$_2$H, $c$-C$_3$H, $c$-C$_3$H$_2$, CN, HCN, HNC, CS, SO, SiO, and C) and set upper limits to 18 species as reference values for chemical models. About 20 independent velocity components at 4.7-10.9 kpc from the Galactic Center were identified. Their column density and excitation temperature estimated from the absorption study, as well as the CO intensity distributions obtained from the FUGIN survey, indicate that the components with $\tau$ $\lesssim$ 1 correspond to diffuse clouds or cloud outer edges. Simultaneous multiple-Gaussian fitting of CO $J$=1-0 and $J$=2-1 absorption lines shows that these are composed of narrow- and broad-line components. The kinetic temperature empirically expected from the high HCN/HNC isomer ratio ($\gtrsim$4) reaches $\gtrsim$40 K and the corresponding thermal width accounts for the line widths of the narrow-line components. CN-bearing molecules and hydrocarbons have tight and linear correlations within the groups. The CO/HCO$^+$ abundance ratio showed a dispersion as large as 3 orders of magnitude with a smaller ratio in a smaller $N$(HCO$^+$) (or lower $A_{\rm V}$) range. Some of the velocity components are detected in single-dish CO emission and ALMA HCO$^+$ absorption but without corresponding ALMA CO absorption. This may be explained by the mixture of clumpy CO emitters not resolved with the $\sim$1 pc single-dish beam surrounded by extended components with a very low CO/HCO$^+$ abundance ratio (i.e., CO-poor gas).

Thermal transistors that switch the thermal conductivity (\k{appa}) of the active layers are attracting increasing attention as thermal management devices. For electrochemical thermal transistors, several transition metal oxides (TMOs) have been proposed as active layers. After electrochemical redox treatment, the crystal structure of the TMO is modulated, which results in the \k{appa} switching. However, the \k{appa} switching width is still small (< 4 W/mK). In this study, we demonstrate that LaNiOx-based solid-state electrochemical thermal transistors have a \k{appa} switching width of 4.3 W/mK. Fully oxidised LaNiO3 (on state) has a \k{appa} of 6.0 W/mK due to the large contribution of electron thermal conductivity (\k{appa}ele, 3.1 W/mK). In contrast, reduced LaNiO2.72 (off state) has a \k{appa} of 1.7 W/mK because the phonons are scattered by the oxygen vacancies. The LaNiOx-based electrochemical thermal transistor exhibits excellent cyclability of \k{appa} and the crystalline lattice of LaNiOx. This electrochemical thermal transistor may be a promising platform for next-generation devices such as thermal displays., Comment: 24 pages, 10 figures including SI

The human joint is an open-type joint composed of bones, cartilage, ligaments, synovial fluid, and joint capsule, having advantages of flexibility and impact resistance. However, replicating this structure in robots introduces friction challenges due to the absence of bearings. To address this, our study focuses on mimicking the fluid-exuding function of human cartilage. We employ a rubber-based 3D printing technique combined with absorbent materials to create a versatile and easily designed cartilage sheet for biomimetic robots. We evaluate both the fluid-exuding function and friction coefficient of the fabricated flat cartilage sheet. Furthermore, we practically create a piece of curved cartilage and an open-type biomimetic ball joint in combination with bones, ligaments, synovial fluid, and joint capsule to demonstrate the utility of the proposed cartilage sheet in the construction of such joints., Comment: Accepted at RoboSoft2024

The physical properties of galactic molecular outflows are important as they could constrain outflow formation mechanisms. We study the properties of the southwest (SW) outflow streamer including gas kinematics, optical depth, dense gas fraction, and shock strength in the central molecular zone of the starburst galaxy NGC 253. We image the molecular emission at a spatial resolution of $\sim$27 pc based on data from the ALCHEMI program. We trace the kinematics of molecular gas with CO(1-0) line. We constrain the optical depth of CO emission with CO/$^{13}$CO(1-0) ratio, the dense gas fraction with HCN/CO(1-0) ratio, as well as the shock strength with SiO(2-1)/$^{13}$CO(1-0) ratio. The CO/$^{13}$CO(1-0) integrated intensity ratio is $\sim$21 in the SW streamer region, which approximates the C/$^{13}$C isotopic abundance ratio. The higher integrated intensity ratio compared to the disk can be attributed to the optically thinner environment for CO(1-0) emission inside the SW streamer. The HCN/CO(1-0) and SiO(2-1)/$^{13}$CO(1-0) integrated intensity ratios both approach $\sim$0.2 in three giant molecular clouds (GMCs) at the base of the outflow streamers, which implies the higher dense gas fraction and enhanced strength of fast shocks in those GMCs than in the disk. The contours of those two integrated intensity ratios are extended towards the directions of outflow streamers, which connects the enhanced dense gas fraction and shock strength with molecular outflow. Moreover, the molecular gas with enhanced dense gas fraction and shock strength located at the base of the SW streamer shares the same velocity with the outflow. These phenomena suggest that the star formation inside the GMCs can trigger the shocks and further drive the molecular outflow., Comment: Accepted for publication in A&A, 14 pages, 11 figures

Sparse Bayesian learning has promoted many effective frameworks for brain activity decoding, especially for the reconstruction of muscle activity. However, existing sparse Bayesian learning mainly employs Gaussian distribution as error assumption in the reconstruction task, which is not necessarily the truth in the real-world application. On the other hand, brain recording is known to be highly noisy and contains many non-Gaussian noises, which could lead to significant performance degradation for sparse Bayesian learning method. The goal of this paper is to propose a new robust implementation for sparse Bayesian learning, so that robustness and sparseness can be realized simultaneously. Motivated by the great robustness of maximum correntropy criterion (MCC), we proposed an integration of MCC into the sparse Bayesian learning regime. To be specific, we derived the explicit error assumption inherent in the MCC and then leveraged it for the likelihood function. Meanwhile, we used the automatic relevance determination (ARD) technique for the sparse prior distribution. To fully evaluate the proposed method, a synthetic dataset and a real-world muscle activity reconstruction task with two different brain modalities were employed. Experimental results showed that our proposed sparse Bayesian correntropy learning framework improves significantly the robustness in a noisy regression task. The proposed method can realize higher correlation coefficient and lower root mean squared error in the real-world muscle activity reconstruction tasks. Sparse Bayesian correntropy learning provides a powerful tool for neural decoding which can promote the development of brain-computer interfaces.