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Codebase for reproducing results in "Bridge the Gap: Enhancing Quadruped Locomotion with Vertical Ground Perturbations"
No full textThis dataset includes the software code and a comprehensive video accompanying the article "Bridge the Gap: Enhancing Quadruped Locomotion with Vertical Ground Perturbations". For reference, please find the abstract of the paper below.
Abstract
Legged robots, particularly quadrupeds, excel at navigating rough terrains, yet their performance under vertical ground perturbations, such as those from oscillating surfaces, remains underexplored. This study introduces a novel approach to enhance quadruped locomotion robustness by training the Unitree Go2 robot on an oscillating bridge—a 13.24-meter steel-
and-concrete structure with a 2.0 Hz eigenfrequency designed to perturb locomotion. Using Reinforcement Learning (RL) with the Proximal Policy Optimization (PPO) algorithm in a MuJoCo
simulation, we trained 15 distinct locomotion policies, combining five gaits (trot, pace, bound, free, default) with three training conditions: rigid bridge and two oscillating bridge setups with
differing height regulation strategies (relative to bridge surface or ground). Domain randomization ensured zero-shot transfer to the real-world bridge. Our results demonstrate that policies
trained on the oscillating bridge exhibit superior stability and adaptability compared to those trained on rigid surfaces. Our framework enables robust gait patterns even without prior
bridge exposure. These findings highlight the potential of simulation-based RL to improve quadruped locomotion during dynamic ground perturbations, offering insights for designing
robots capable of traversing vibrating environments.1.
Local Councillors in Europe II Dataset and Appendices
Full text linkThe dataset contains responses of 30,062 individuals serving as elected councillors in municipalities across 28 European countries (Andorra, Austria, Belgium, Bosnia and Herzegovina, Croatia, Czechia, Finland, France, Germany, Greece, Hungary, Iceland, Ireland, Israel, Italy, Latvia, Lithuania, North Macedonia, Poland, Portugal, Romania, Serbia, Slovakia, Slovenia, Spain, Sweden, Switzerland and the United Kingdom). Data was collected between June 2023 and July 2024 by a consortium of numerous researchers across the participating countries using a uniform questionnaire and a shared electronic data collection system. In order to disclose the identity of the respondents, context data has been anonymized to an extent where tracking back of single individuals is not possible.first versio
SolidLBMeval - post-processing of data for SolidLBM
No full textThis module acts as a post-processing package for SolidLBM. It processes and visualises the data. The use cases are refinement studies, energy evaluation, or crack propagation.
The various submodules contain methods to read .vtk or .vtu files from the simulation and .h5 files of data concerning crack propagation, which were written as output from SolidLBM. Additionally, output files of FEM simulations can be read, e.g. .xdmf files produced with FEniCSx.
More information on requirements, structure and usage can be found in the ReadMe file.This module acts as a post-processing package for SolidLBM. It processes and visualises the data. The use cases are refinement studies, energy evaluation, or crack propagation
Data for publication: Direct determination of the charge transition level of dopants in oxides by x-ray photoelectron spectroscopy
No full textThe zip files contain a pdf file with a brief description of the filenames used in the data set. The data are X-ray photoelectron spectroscopy used for the publication "Direct determination of the charge transition level of dopants in oxides by x-ray photoelectron spectroscopy", which has accepted for publication in the journal "Physical Review Materials" in June 2025
Nonperturbative fluctuation effects of charged bosonic fields: A quark-diquark model study at nonzero density
No full textNonperturbative fluctuation effects of charged bosonic fields: A quark-diquark model study at nonzero densit
Requirements analysis: Transcript of the exchange with the Knowledge Management group of the Bundesgesellschaft für Endlagerung
Full text linkBackground:
As part of the doctoral thesis "XR-KIS: An Extended Reality-based Information System for Knowledge Management in Nuclear Facilities," expert interviews were conducted for both requirements analysis and evaluation. The goal of the requirements analysis was to gain in-depth insights into the current state of Knowledge Management in the German nuclear industry. In addition, the requirements for an Extended Reality-based information system to support Knowledge Management in nuclear facilities were examined. Care was taken in selecting interview partners to cover all relevant stakeholders. This includes perspectives from the most important types of nuclear facilities (nuclear power plants, interim storage facilities, final repositories, research facilities) as well as other stakeholders, including federal authorities and engineering service providers.
Regarding the transcript "Exchange with the Knowledge Management group of the Bundesgesellschaft für Endlagerung":
The Knowledge Management Group at the Bundesgesellschaft für Endlagerung was established in 2019 as a cross-departmental unit. It implements Knowledge Management tools within the Bundesgesellschaft für Endlagerung. The exchange focused on presenting the "iFinder" application as a search tool for written knowledge. Knowledge maps to support onboarding were also discussed.
Note:
The interview partner(s) has/have given written consent to the publication of this anonymized transcript as part of an authorization process. The German version represents the original text
In situ imaging of fluid dynamics and nanocarrier nucleation inside microfluidic mixing devices
No full textRaman raw dat
Lattice Monte Carlo meets the lattice functional renormalization group: A quantitative comparison
No full textLattice Monte Carlo meets the lattice functional renormalization group: A quantitative compariso
Magnetism of transition-metal-doped tetrel nanoclusters: multi-reference character and spin–orbit effects in Sn12TM (TM = Cr, Mn, Fe)
No full text"Curie-Daten" contains all of the beam profiles used to generate the data points in the Curie Plots. The files are labeled with their temperature.
"Nanoscale-CAS" contains all of the CASSCF calculations with inputs outputs gbw files xyz files for every system with numerous variations
Anforderungsanalyse: Transkript des Interviews mit einem Experten für Managementsysteme und Dokumentation bei der BGZ Gesellschaft für Zwischenlagerung
Full text linkHintergrund:
Im Rahmen des Dissertationsprojekts „XR-KIS: An Extended Reality-based Information System for Knowledge Management in Nuclear Facilities“ wurden zur Anforderungsanalyse sowie zur Evaluation Experteninterviews durchgeführt. Ziel der Anforderungsanalyse war es, tiefgehende Einblicke in den aktuellen Stand des Wissensmanagements in der deutschen Kerntechnik zu gewinnen. Darüber hinaus wurden die Anforderungen an ein Extended Reality-basiertes Informationssystem zur Unterstützung des Wissensmanagements in kerntechnischen Anlagen untersucht. Bei der Auswahl der Interviewpartner wurde darauf geachtet, alle relevanten Stakeholder abzubilden. Dies umfasst Perspektiven der wichtigsten Arten von kerntechnischen Anlagen (Kernkraftwerke, Zwischenlager, Endlager, Forschungseinrichtungen) sowie anderer relevanter Akteure, darunter Bundesbehörden und Ingenieurdienstleister.
Zum Transkript "Interview mit einem Experten für Managementsysteme und Dokumentation bei der BGZ Gesellschaft für Zwischenlagerung":
Der befragte Experte ist Qualitätsmanager in einem Zwischenlager und arbeitete zuvor 20 Jahre in der Abteilung Managementsysteme eines Kernkraftwerks. Zu seinen Kernaufgaben gehören die Erstellung von Regelwerken und Handbüchern, die Begleitung von Aufsichtsverfahren sowie die Einführung eines Dokumentenmanagementsystems. Das Gespräch behandelte die besondere Rolle der BGZ Gesellschaft für Zwischenlagerung an Kraftwerksstandorten, die umfangreichen Dokumentationsanforderungen nach der Strahlenschutzverordnung und der KTA 1404, einer sicherheitstechnischen Regel des Kerntechnischen Ausschusses. Zudem wurden die Herausforderungen und Vorteile des eingesetzten Dokumentenmanagementsystems sowie Identifikationssysteme für technisches Equipment und Behälter diskutiert.
Hinweis:
Der/die Interviewpartner(in) hat/haben im Rahmen eines Autorisierungsprozesses sein/ihr schriftliches Einverständnis zur Veröffentlichung dieses anonymisierten Transkripts gegeben. Die deutsche Fassung stellt die Originalfassung dar