Condensation of preformed charge density waves in kagome metals

Charge density wave (CDW) is a spontaneous spatial modulation of electric charges in solids whose general microscopic descriptions are yet to be completed. Layered kagome metals of $A$V$_3$Sb$_5$ ($A$ = K, Rb, Cs) provide a unique chance to realize its emergence intertwined with dimensional effects as well as their special lattice. Here, based on a state-of-the-art molecular dynamics simulation, we uncover that the phase transition to charge ordered states in kagome metals is a condensation process of incoherently preformed CDWs. We demonstrate that charge modulation first preforms on each kagome layer at a well defined temperature but its phase fluctuation proliferates across the entire layers with a $10^5$ times slower frequency than typical phonon vibrations until reaching its freezing temperature. We find that the fluctuation is not random but confined to a limited number of states as a consequence of unavoidable degeneracy in stacking layered charge orders. As the size of interfacial alkali atom increases, the fluctuating phases are shown to counterbalance the condensation of orderings, resulting in a maximized transition temperature for RbV$_3$Sb$_5$. Our results resolve several controversial observations on their CDW formations and highlight a crucial role of interlayer interactions for the charge ordering in kagome metals

Efficient Navigation and Motion Control for Autonomous Forklifts in Smart Warehouses: LSPB Trajectory Planning and MPC Implementation

The rise of smart factories and warehouses has ushered in an era of intelligent manufacturing, with autonomous robots playing a pivotal role. This study focuses on improving the navigation and control of autonomous forklifts in warehouse environments. It introduces an innovative approach that combines a modified Linear Segment with Parabolic Blends (LSPB) trajectory planning with Model Predictive Control (MPC) to ensure efficient and secure robot movement. To validate the performance of our proposed path-planning method, MATLAB-based simulations were conducted in various scenarios, including rectangular and warehouse-like environments, to demonstrate the feasibility and effectiveness of the proposed method. The results demonstrated the feasibility of employing Mecanum wheel-based robots in automated warehouses. Also, to show the superiority of the proposed control algorithm performance, the navigation results were compared with the performance of a system using the PID control as a lower-level controller. By offering an optimized path-planning approach, our study enhances the operational efficiency and effectiveness of Mecanum wheel robots in real-world applications such as automated warehousing systems

Diffraction Loss Prediction of Multiple Edges Using Bullington Method with Neural Network in Mountainous Areas

This paper proposes a neural network approach to improve the Bullington method by using parameters obtained from ignored obstacles in mountainous areas. Measurements were performed in mountainous areas to compare the prediction accuracy of propagation loss. And the measured data were used for neural network training. A detailed description of the input parameters of the proposed neural network is presented. The prediction performances were improved by up to 3.20 dB in the average error and 2.11 dB in the standard deviation of errors by the proposed method when compared to traditional diffraction methods

Highly restricted localization of RNA polymerase II within a locus control region of a tissue-specific chromatin domain

RNA polymerase II (Pol II) can associate with regulatory elements far from promoters. For the murine β-globin locus, Pol II binds the β-globin locus control region (LCR) far upstream of the β-globin promoters, independent of recruitment to and activation of the βmajor promoter. We describe here an analysis of where Pol II resides within the LCR, how it is recruited to the LCR, and the functional consequences of recruitment. High-resolution analysis of the distribution of Pol II revealed that Pol II binding within the LCR is restricted to the hypersensitive sites. Blocking elongation eliminated the synthesis of genic and extragenic transcripts and eliminated Pol II from the βmajor open reading frame. However, the elongation blockade did not redistribute Pol II at the hypersensitive sites, suggesting that Pol II is recruited to these sites. The distribution of Pol II did not strictly correlate with the distributions of histone acetylation and methylation. As Pol II associates with histone-modifying enzymes, Pol II tracking might be critical for establishing and maintaining broad histone modification patterns. However, blocking elongation did not disrupt the histone modification pattern of the β-globin locus, indicating that Pol II tracking is not required to maintain the pattern