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A challenging topic in materials engineering is the development of numerical models that can accurately predict material properties with atomistic accuracy, matching the scale and level of detail achieved by experiments. In this regard, coarse-grained (CG) molecular dynamics (MD) simulations are a popular method for achieving this goal. Despite the efforts of the scientific community, a reliable CG model with quasi-atomistic accuracy has not yet been proposed for the design and prototyping of materials, especially polymers. In this paper we describe a CG model for polymers, focusing on the bio-compatible poly(lactic-co-glycolic acid) (PLGA), based on a general parametrization strategy with a potentially broader field of applications. In this model, polymers are represented with finite-size ellipsoids, short-range interactions are accounted for with the generalized Gay-Berne potential, while electrostatic and long-range interactions are accounted for with point charges within the ellipsoids. The model was validated against its atomistic counterpart, obtained through a back-mapping process, by comparing physical properties such as glass transition temperature, thermal conductivity, and elastic moduli. We observed quantitative agreement between the atomistic and CG representations, thus opening up the possibility of adopting the proposed model to expand the domain size of typical MD simulations to dimensions comparable to those of experimental setups., Comment: 13 pages of manuscript; graphical abstract; 8 pages of supporting information

Aquaporins play a key role for the regulation of water transport and solute selectivity in biological cells and tissues. Due to their unique properties, during the last years aquaporins (AQPs) have attracted increasing interest for their use in the development of biomimetic membranes for water filtration. Motivated by this fascinating application, and the need for reliable methodologies to rationalize the design of AQPs or other biomimetic molecules with targeted filtration properties, we conduct in this work an all-round analysis of their structural features to provide crucial insights into the key determinants of functionality of these relevant biomolecules. Particularly, we analyze -- on a selected set of experimentally-resolved AQP structures -- the composition and peculiarities of their NPA and Selectivity Filter (SF) motifs, the overall structural and sequence similarities between them, their pore shape and the residue-level pore-lining composition. Then, AQPs' pore structural and physico-chemical descriptors are put into correlation with available data on experimental permeation rate, within the context of a pore-level QSAR modeling. The approach, presented here as a methodological proof of concept, enables the identification of key -- potentially novel -- features related to water permeability, which could contribute to a deeper residue-level understanding of AQP filtering properties. Potential beneficiary areas include the rational design of optimized AQP-based biomimetic membranes and research into the molecular mechanisms underlying AQP-related diseases.

We report on two mechanisms of angularly selective enhanced screening in the solid vortex phase of extremely layered superconductors with tilted columnar defects (CDs). We study Bi$_2$Sr$_2$CaCu$_2$O$_{8+\delta}$ samples with different densities of CD tilted 45$^{\circ}$ from the $c$-axis, and conduct local ac Hall magnetometry measurements, probing the sustainable current of the vortex system. We reveal two types of maxima in sustainable current for particular directions, detected as dips in the magnetic transmittivity of the vortex system. First, for a smaller number of vortices than of defects, an enhancement of screening is detected at an angular location $\Theta^{1}_{\rm dip}$$\sim$45$^{\circ}$ for $H$ applied close to the direction of CD. For a larger number of vortices than of CD, $\Theta^{1}_{\rm dip}$ decreases towards the $ab$-plane direction upon warming. Second, a pair of additional dips in transmittivity are detected at angles $\Theta^{2}_{dip}$ closer to, and quite symmetric with, the $ab$-plane. These two types of angularly selective enhanced screening reveal the effective pinning by tilted CD even for the composite vortex lattices nucleated in tilted fields in Bi$_2$Sr$_2$CaCu$_2$O$_{8+\delta}$., Comment: 6 figures

Kinetic inductance detectors (KIDs) have been proven as reliable systems for astrophysical observations, especially in the millimetre range. Their compact size enables to optimally fill the focal plane, thus boosting sensitivity. The KISS (KIDs Interferometric Spectral Surveyor) instrument is a millimetre camera that consists of two KID arrays of 316 pixels each coupled to a Martin-Puplett interferometer (MPI). The addition of the MPI grants the KIDs camera the ability to provide spectral information in the 100 and 300 GHz range. In this paper we report the main properties of the KISS instrument and its observations. We also describe the calibration and data analysis procedures used. We present a complete model of the observed data including the sky signal and several identified systematics. We have developed a full photometric and spectroscopic data analysis pipeline that translates our observations into science-ready products. We show examples of the results of this pipeline on selected sources: Moon, Jupiter and Venus. We note the presence of a deficit of response with respect to expectations and laboratory measurements. The detectors noise level is consistent with values obtained during laboratory measurements, pointing to a sub-optimal coupling between the instrument and the telescope as the most probable origin for the problem. This deficit is large enough as to prevent the detection of galaxy clusters, which were KISS main scientific objective. Nevertheless, we have demonstrated the feasibility of this kind of instrument, in the prospect for other KID interferometers (such as the CONCERTO instrument). As this regard, we have developed key instrumental technologies such as optical conception, readout electronics and raw calibration procedures, as well as, adapted data analysis procedures., Comment: 23 pages, 15 figures. Accepted for publication in Publications of the Astronomical Society of the Pacific

We report on the first deployment of a ytterbium (Yb) transportable optical lattice clock (TOLC), commercially shipping the clock 3,000 km from Boulder, Colorado to Washington DC. The system, composed of a rigidly mounted optical reference cavity, atomic physics package, and an optical frequency comb, fully realizes an independent frequency standard for comparisons in the optical and microwave domains. The shipped Yb TOLC was fully operational within 2 days of arrival, enabling frequency comparisons with rubidium (Rb) fountains at the United States Naval Observatory (USNO). To the best of our knowledge, this represents the first deployment of a fully independent TOLC, including the frequency comb, coherently uniting the optical stability of the Yb TOLC to the microwave output of the Rb fountain., Comment: 5 pages, 4 figures

This work focuses on the study of the AME, an important emission mechanism between 10 and 60 GHz whose polarization properties are not yet fully understood, and is therefore a potential contaminant for future CMB polarization observations. We use new QUIJOTE-MFI maps 11, 13, 17 and 19 GHz, together with other public ancillary data including WMAP and Planck, to study the polarization properties of the AME in three Galactic regions: rho-Ophiuchi, Perseus and W43. We have obtained the SEDs for those three regions over the frequency range 0.4-3000 GHz, both in intensity and polarization. The intensity SEDs are well described by a combination of free-free emission, thermal dust, AME and CMB anisotropies. In polarization, we extracted the flux densities using all available data between 11 and 353 GHz. We implemented an improved intensity-to-polarization leakage correction that has allowed for the first time to derive reliable polarization constraints well below the 1% level from Planck-LFI data. A frequency stacking of maps in the range 10-60 GHz has allowed us to reduce the statistical noise and to push the upper limits on the AME polarization level. We have obtained upper limits on the AME polarization fraction of order <1% (95% confidence level) for the three regions. In particular we get Pi_AME < 1.1% (at 28.4 GHz), Pi_AME < 1.1% (at 22.8 GHz) and Pi_AME < 0.28% (at 33 GHz) in rho-Ophiuchi, Perseus and W43 respectively. At the QUIJOTE 17 GHz frequency band, we get Pi_AME< 5.1% for rho-Ophiuchi, Pi_AME< 3.5% for Perseus and Pi_AME< 0.85% for W43. Our final upper limits derived using the stacking procedure are Pi_AME < 0.58% for rho-Ophiuchi, Pi_AME < 1.64% for Perseus and Pi_AME < 0.31% for W43. Altogether, these are the most stringent constraints to date on the AME polarization fraction of these three star-forming regions., Comment: 26 pages. 15 figures. Submitted to A&A. Comments welcome

GroundBIRD is a ground-based cosmic microwave background (CMB) experiment for observing the polarization pattern imprinted on large angular scales ($\ell > 6$ ) from the Teide Observatory in Tenerife, Spain. Our primary scientific objective is a precise measurement of the optical depth $\tau$ ($\sigma(\tau) \sim 0.01$) to the reionization epoch of the Universe to cross-check systematic effects in the measurements made by previous experiments. GroundBIRD observes a wide sky area in the Northern Hemisphere ($\sim 40\%$ of the full sky) while continuously rotating the telescope at a high speed of up to 20 rotations per minute (rpm) to overcome the fluctuations of atmospheric radiation. We have adopted the NbTiN/Al hybrid microwave kinetic inductance detectors (MKIDs) as focal plane detectors. We observe two frequency bands centered at 145 GHz and 220 GHz. The 145 GHz band picks up the peak frequency of the CMB spectrum. The 220 GHz band helps accurate removal of the contamination of thermal emission from the Galactic interstellar dust. The MKID arrays (138 MKIDs for 145GHz and 23 MKIDs for 220GHz) were designed and optimized so as to minimize the contamination of the two-level-system noise and maximize the sensitivity. The MKID arrays were successfully installed in May 2023 after the performance verification tests were performed at a laboratory. GroundBIRD has been upgraded to use the full MKID arrays, and scientific observations are now underway. The telescope is automated, so that all observations are performed remotely. Initial validations, including polarization response tests and observations of Jupiter and the moon, have been completed successfully. We are now running scientific observations., Comment: Event: SPIE Astronomical Telescopes + Instrumentation, 2024, Yokohama, Japan; paper number 13102-7, Millimeter, Submillimeter, and Far-Infrared Detectors and Instrumentation for Astronomy XII

Materials combining topologically non-trivial behavior and superconductivity offer a potential route for quantum computation. However, the set of available materials intrinsically realizing these properties are scarce. Recently, surface superconductivity has been reported in PtBi$_2$ in its trigonal phase and an inherent Weyl semimetal phase has been predicted. Here, based on scanning tunneling microscopy experiments, we reveal the signature of topological Fermi arcs in the normal state patterns of the quasiparticle interference. We show that the scattering between Fermi arcs dominates the interference spectra, providing conclusive evidence for the relevance of Weyl fermiology for the surface electronic properties of trigonal PtBi$_2$.

Disordered hyperuniform materials are very promising for applications but the successful route for synthesizing them requires to understand the interactions induced by the host media that can switch off this hidden order. With this aim we study the model system of vortices in the $\beta$-Bi$_2$Pd superconductor where correlated defects seem to play a determinant role for the nucleation of a gel vortex phase at low densities. We directly image vortices in extended fields-of-view and show that the disordered vortex structure in this material is anti-hyperuniform, contrasting with the case of vortex structures nucleated in samples with point-like disorder. Based on numerical simulations, we show that this anti-hyperuniform structure arises both, from the interaction of a diluted vortex structure with a fourfold-symmetric correlated disorder quite likely generated when cleaving the samples and from the out of equilibrium nature of the quenched configuration., Comment: 13 pages, 10 figures

Generalized linear models (GLMs) arguably represent the standard approach for statistical regression beyond the Gaussian likelihood scenario. When Bayesian formulations are employed, the general absence of a tractable posterior distribution has motivated the development of deterministic approximations, which are generally more scalable than sampling techniques. Among them, expectation propagation (EP) showed extreme accuracy, usually higher than many variational Bayes solutions. However, the higher computational cost of EP posed concerns about its practical feasibility, especially in high-dimensional settings. We address these concerns by deriving a novel efficient formulation of EP for GLMs, whose cost scales linearly in the number of covariates p. This reduces the state-of-the-art O(p^2 n) per-iteration computational cost of the EP routine for GLMs to O(p n min{p,n}), with n being the sample size. We also show that, for binary models and log-linear GLMs approximate predictive means can be obtained at no additional cost. To preserve efficient moment matching for count data, we propose employing a combination of log-normal Laplace transform approximations, avoiding numerical integration. These novel results open the possibility of employing EP in settings that were believed to be practically impossible. Improvements over state-of-the-art approaches are illustrated both for simulated and real data. The efficient EP implementation is available at https://github.com/niccoloanceschi/EPglm.

Modern astrophysics relies on intricate instrument setups to meet the demands of sensitivity, sky coverage, and multi-channel observations. An example is the CONCERTO project, employing advanced technology like kinetic inductance detectors and a Martin-Puplett interferometer. This instrument, installed at the APEX telescope atop the Chajnantor plateau, began commissioning observations in April 2021. Following a successful commissioning phase that concluded in June 2021, CONCERTO was offered to the scientific community for observations, with a final observing run in December 2022. CONCERTO boasts an 18.5 arcmin field of view and a spectral resolution down to 1.45 GHz in the 130-310 GHz electromagnetic band. We developed a comprehensive instrument model of CONCERTO inspired by Fourier transform spectrometry principles to optimize performance and address systematic errors. This model integrates instrument noises, subsystem characteristics, and celestial signals, leveraging both physical data and simulations. Our methodology involves delineating simulation components, executing on-sky simulations, and comparing results with real observations. The resulting instrument model is pivotal, enabling a precise error correction and enhancing the reliability of astrophysical insights obtained from observational data. In this work, we focus on the description of three white-noise noise components included in the instrument model that characterize the white-noise level: the photon, the generation-recombination, and the amplifier noises., Comment: 8 pages, 1 figure, Proceeding of the SPIE conference Millimeter, Submillimeter, and Far-Infrared Detectors and Instrumentation for Astronomy XII, SPIE Astronomical Telescopes + Instrumentation 2024

We present the data-processing algorithms and the performance of CONCERTO (CarbON CII line in post-rEionisation and ReionisaTiOn epoch) in continuum by analysing the data from the commissioning and scientific observations. The beam pattern is characterized by an effective FWHM of 31.9 $\pm$ 0.6" and 34.4 $\pm$ 1.0" for high-frequency (HF) and low-frequency (LF) bands. The main beam is slightly elongated with a mean eccentricity of 0.46. Two error beams of $\sim$65" and $\sim$130" are characterized, enabling the estimate of a main beam efficiency of $\sim$0.52. The field of view is accurately reconstructed and presents coherent distortions between the HF and LF arrays. LEKID parameters were robustly determined for 80% of the read tones. Cross-talks between LEKIDs are the first cause of flagging, followed by an excess of eccentricity for $\sim$10% of the LEKIDs, all located in a given region of the field of view. On the 44 scans of Uranus selected for the absolute photometric calibration, 72.5% and 78.2% of the LEKIDs are selected as valid detectors with a probability >70%. By comparing Uranus measurements with a model, we obtain calibration factors of 19.5$\pm$0.6 [Hz/Jy] and 25.6$\pm$0.9 [Hz/Jy] for HF and LF. The point-source continuum measurement uncertainties are 3.0% and 3.4% for HF and LF bands. The RMS of CONCERTO maps is verified to evolve as proportional to the inverse square root of integration time. The measured NEFDs for HF and LF are 115$\pm$2 mJy/beam$\cdot$s$^{1/2}$ and 95$\pm$1 mJy/beam$\cdot$s$^{1/2}$, obtained using CONCERTO data on the COSMOS field for a mean precipitable water vapour and elevation of 0.81 mm and 55.7 deg. CONCERTO demonstrates unique capabilities in fast dual-band spectral mapping with a $\sim$18.5' instantaneous field-of-view. CONCERTO's performance in continuum is perfectly in line with expectations., Comment: 23pages, 22 figures

Generation of ultra high frequency acoustic waves in water is key to nano resolution sensing, acoustic imaging and theranostics. In this context water immersed carbon nanotubes (CNTs) may act as an ideal optoacoustic source, due to their nanometric radial dimensions, peculiar thermal properties and broad band optical absorption. The generation mechanism of acoustic waves in water, upon excitation of both a single-wall (SW) and a multi-wall (MW) CNT with laser pulses of temporal width ranging from 5 ns down to ps, is theoretically investigated via a multi-scale approach. We show that, depending on the combination of CNT size and laser pulse duration, the CNT can act as a thermophone or a mechanophone. As a thermophone, the CNT acts as a nanoheater for the surrounding water, which, upon thermal expansion, launches the pressure wave. As a mechanophone, the CNT acts as a nanopiston, its thermal expansion directly triggering the pressure wave in water. Activation of the mechanophone effect is sought to trigger few nanometers wavelength sound waves in water, matching the CNT acoustic frequencies. This is at variance with respect to the commonly addressed case of water-immersed single metallic nano-objects excited with ns laser pulses, where only the thermophone effect significantly contributes. The present findings might be of impact in fields ranging from nanoscale non-destructive testing to water dynamics at the meso- to nano-scale., Comment: 13 pages, 9 figures

Detecting protoplanets during their formation stage is an important but elusive goal of modern astronomy. Kinematic detections via the spiral wakes in the gaseous disc are a promising avenue to achieve this goal. We aim to test the applicability to observations in the low and intermediate planet mass regimes of a commonly used semi-analytical model for planet induced spiral waves. In contrast with previous works which proposed to use the semi-analytical model to interpret observations, in this study we analyse for the first time both the structure of the velocity and density perturbations. We run a set of FARGO3D hydrodynamic simulations and compare them with the output of the semi-analytic model in the code wakeflow, which is obtained by solving Burgers' equation using the simulations as an initial condition. We find that the velocity field derived from the analytic theory is discontinuous at the interface between the linear and nonlinear regions. After 0.2 r$_p$ from the planet, the behaviour of the velocity field closely follows that of the density perturbations. In the low mass limit, the analytical model is in qualitative agreement with the simulations, although it underestimates the azimuthal width and the amplitude of the perturbations, predicting a stronger decay but a slower azimuthal advance of the shock fronts. In the intermediate regime, the discrepancy increases, resulting in a different pitch angle between the spirals of the simulations and the analytic model. The implementation of a fitting procedure based on the minimisation of intensity residuals is bound to fail due to the deviation in pitch angle between the analytic model and the simulations. In order to apply this model to observations, it needs to be revisited accounting also for higher planet masses., Comment: 10 pages, 7 figures. Accepted for publication in A&A May 27, 2024

The calculation of nuclear electromagnetic sum rules by directly diagonalizing the nuclear Hamiltonian in a large basis is numerically challenging and has not been performed for $A>2$ nuclei. With the significant progress of high performance computing, we show that calculating sum rules using numerous discretized continuum states obtained by directly diagonalizing the ab initio no-core shell model Hamiltonian is achievable numerically. Specifically, we calculate the $^{4}$He electric dipole ($E1$) polarizability, that is an inverse energy weighted sum rule, employing the Daejeon16 $NN$ interaction. We demonstrate that the calculations are numerically tractable as the dimension of the basis increases and are convergent. Our results for the $^{4}$He electric dipole polarizability are consistent with the most recent experimental data and are compared with those of other theoretical studies employing different techniques and various interactions.

High-intensity lasers require suppression of prepulses and other non-ideal temporal structure to avoid target disruption before the arrival of the main pulse. To address this, we demonstrate that ionization gratings act as a controllable optical switch for high-power light with a temporal contrast improvement of at least $3\times10^5$ and a switching time less than 500 fs. We also show that a grating system can run for hours at 10 Hz without degradation. The contrast improvement from an ionization grating compares favorably to that achievable with plasma mirrors., Comment: 6 pages, 4 figures

Novel hyperuniform materials are emerging as an active field of applied and basic research since they can be designed to have exceptional physical properties. This ubiquitous state of matter presents a hidden order that is characterized by the density of constituents of the system being uniform at large scales, as in a perfect crystal, although they can be isotropic and disordered like a liquid. In the quest for synthesizing hyperuniform materials in experimental conditions, the impact of finite-size effects remains as an open question to be addressed. We use vortex matter in type-II superconductors as a toy model system to study this issue. We previously reported that vortex matter nucleated in samples with point disorder is effectively hyperuniform and thus presents the interesting physical properties inherent to hyperuniform systems. In this work we present experimental evidence that on decreasing the thickness of the vortex system its hyperuniform order is depleted. By means of hydrodynamic arguments we show that the experimentally observed depletion can be associated to two crossovers that we describe within a hydrodynamic approximation. The first crossover length is thickness-dependent and separates a class-II hyperuniform regime at intermediate lengthscales from a regime that can become asymptotically non-hyperuniform for large wavelengths in very thin samples. The second crossover takes place at smaller lengthscales and marks the onset of a faster increase of density fluctuations due to the dispersivity of the elastic constants. Our work points to a novel mechanism of emerging hyperuniformity controlled by the thickness of the host sample, an issue that has to be taken into account when growing hyperuniform structures for technological applications., Comment: 5 figures

The spectrum of 12Be exhibits exotic features, e.g., an intruder ground state and shape coexistence, normally associated with the breakdown of a shell closure. While previous phenomenological treatments indicated the ground state has substantial contributions from intruder configurations, it is only with advances in computational abilities and improved interactions that this intruder mixing is observed in ab initio no-core shell model (NCSM) predictions. In this work, we extract electromagnetic observables and symmetry decompositions from the NCSM wave functions to demonstrate that the low-lying positive parity spectrum can be explained in terms of mixing of rotational bands with very different intrinsic structure coexisting within the low-lying spectrum. These observed bands exhibit an approximate SU(3) symmetry and are qualitatively consistent with Elliott model predictions., Comment: 10 pages, 7 figures

CONCERTO (CarbON CII line in post-rEionization and ReionizaTiOn) is a low-resolution Fourier transform spectrometer dedicated to the study of star-forming galaxies and clusters of galaxies in the transparent millimeter windows from the ground. It is characterized by a wide instantaneous 18.6 arcmin field of view, operates at 130-310 GHz, and was installed on the 12-meter Atacama Pathfinder Experiment (APEX) telescope at 5100 m above sea level. CONCERTO's double focal planes host two arrays of 2152 kinetic inductance detectors and represent a pioneering instrument to meet a state-of-the-art scientific challenge. This paper introduces the CONCERTO instrument and explains its status, shows the first CONCERTO spectral maps of Orion, and describes the perspectives of the project., Comment: 6 pages, 2 figures, to appear in Proc. of the mm Universe 2023 conference, Grenoble (France), June 2023, published by F. Mayet et al. (Eds), EPJ Web of conferences, EDP Sciences

Corruption, fraud, and unethical activities have emerged as significant obstacles to global economic, political, and social progress. Although many empirical studies have focused on country-level corruption metrics, this study is the first to utilize a substantial international dataset to assess the effects of illicit and unethical managerial practices on firm performance. Employing cross-sectional data, this research examines the influence of corruption on corporate outcomes. Our definition of corruption evaluates the degree to which managers engage in mismanagement, misconduct, or corrupt activities. The repercussions for corporate governance, especially concerning the process of appointing managers, are both crucial and strategic., Comment: 7 Pages

For humans, fast, efficient walking over flat ground represents the vast majority of locomotion that an individual experiences on a daily basis, and for an effective, real-world humanoid robot the same will likely be the case. In this work, we propose a locomotion controller for efficient walking over near-flat ground using a relatively simple, model-based controller that utilizes a novel combination of several interesting design features including an ALIP-based step adjustment strategy, stance leg length control as an alternative to center of mass height control, and rolling contact for heel-to-toe motion of the stance foot. We then present the results of this controller on our robot Nadia, both in simulation and on hardware. These results include validation of this controller's ability to perform fast, reliable forward walking at 0.75 m/s along with backwards walking, side-stepping, turning in place, and push recovery. We also present an efficiency comparison between the proposed control strategy and our baseline walking controller over three steady-state walking speeds. Lastly, we demonstrate some of the benefits of utilizing rolling contact in the stance foot, specifically the reduction of necessary positive and negative work throughout the stride., Comment: Submitted and accepted to 2024 IEEE International Conference on Robotics and Automation (ICRA)

The smoothing distribution of dynamic probit models with Gaussian state dynamics was recently proved to belong to the unified skew-normal family. Although this is computationally tractable in small-to-moderate settings, it may become computationally impractical in higher dimensions. In this work, adapting a recent more general class of expectation propagation (EP) algorithms, we derive an efficient EP routine to perform inference for such a distribution. We show that the proposed approximation leads to accuracy gains over available approximate algorithms in a financial illustration.

Binary regression models represent a popular model-based approach for binary classification. In the Bayesian framework, computational challenges in the form of the posterior distribution motivate still-ongoing fruitful research. Here, we focus on the computation of predictive probabilities in Bayesian probit models via expectation propagation (EP). Leveraging more general results in recent literature, we show that such predictive probabilities admit a closed-form expression. Improvements over state-of-the-art approaches are shown in a simulation study.

Bayesian binary regression is a prosperous area of research due to the computational challenges encountered by currently available methods either for high-dimensional settings or large datasets, or both. In the present work, we focus on the expectation propagation (EP) approximation of the posterior distribution in Bayesian probit regression under a multivariate Gaussian prior distribution. Adapting more general derivations in Anceschi et al. (2023), we show how to leverage results on the extended multivariate skew-normal distribution to derive an efficient implementation of the EP routine having a per-iteration cost that scales linearly in the number of covariates. This makes EP computationally feasible also in challenging high-dimensional settings, as shown in a detailed simulation study.

Video-based ambient monitoring of gait for older adults with dementia has the potential to detect negative changes in health and allow clinicians and caregivers to intervene early to prevent falls or hospitalizations. Computer vision-based pose tracking models can process video data automatically and extract joint locations; however, publicly available models are not optimized for gait analysis on older adults or clinical populations. In this work we train a deep neural network to map from a two dimensional pose sequence, extracted from a video of an individual walking down a hallway toward a wall-mounted camera, to a set of three-dimensional spatiotemporal gait features averaged over the walking sequence. The data of individuals with dementia used in this work was captured at two sites using a wall-mounted system to collect the video and depth information used to train and evaluate our model. Our Pose2Gait model is able to extract velocity and step length values from the video that are correlated with the features from the depth camera, with Spearman's correlation coefficients of .83 and .60 respectively, showing that three dimensional spatiotemporal features can be predicted from monocular video. Future work remains to improve the accuracy of other features, such as step time and step width, and test the utility of the predicted values for detecting meaningful changes in gait during longitudinal ambient monitoring., Comment: 14 pages, 3 figures. Code is available at https://github.com/TaatiTeam/pose2gait_public . To be published at the Ambient Intelligence for Health Care Workshop at MICCAI 2023

For humanoid robots to live up to their potential utility, they must be able to robustly recover from instabilities. In this work, we propose a number of balance enhancements to enable the robot to both achieve specific, desired footholds in the world and adjusting the step positions and times as necessary while leveraging ankle and hip. This includes improving the calculation of capture regions for bipedal locomotion to better consider how step constraints affect the ability to recover. We then explore a new strategy for performing cross-over steps to maintain stability, which greatly enhances the variety of tracking error from which the robot may recover. Our last contribution is a strategy for time adaptation during the transfer phase for recovery. We then present these results on our humanoid robot, Nadia, in both simulation and hardware, showing the robot walking over rough terrain, recovering from external disturbances, and taking cross-over steps to maintain balance., Comment: Submitted to 2023 IEEE International Conference on Humanoid Robotics (Humanoids)