University of Notre Dame

As quadruped controllers approach greater maturity for locomotion on level ground, a next challenge relates to enabling these systems to carefully choose contacts in cluttered or discontinuous terrain. In pursuit of this goal, this paper proposes an approach to motion generation for dynamic hopping in clutter. Due to fundamental scalability limitations of mixedinteger programming (MIP) formulations, it is common to adopt simplified models, most often focused on the center of mass (COM) or the centroidal dynamics, to generate a motion sketch for subsequent whole-body planning. This paper considers a MIP formulation on a single-rigid-body model, but simplifies the locomotion planning problem by considering each stance phase as impulsive. We show that this reduction enables our MIP formulation to address locomotion in discontinuous and cluttered environments, while including 3D orientation evolution and actuator limitations, and keeping the computational demands manageable for real-time deployment. Once contacts are fixed, the resulting motion sketch can be readily post-processed by existing optimization tools to remove the impulse assumption and smooth the desired COM trajectory. The work is validated in experiments with the MIT Mini Cheetah executing multiple consecutive hops between surfaces while avoiding obstacle regions.

4‐ and 5‐coordinate zinc thiolate complexes supported either by bis(carboxamide)pyridine frameworks or by substituted tris(pyrazolyl)borate ligands react with elemental sulfur (S8) following two distinct pathways. Some zinc thiolate moieties insert sulfur atoms to form zinc polysulfanide complexes, while others reduce sulfur and oxidize the thiolate. Here, we compare the effects of ligand electronics, strain, and sterics for selecting the respective reaction pathway. These results show that chelating and electron‐deficient thiolate ligands better stabilize persistent zinc‐bound polysulfanide species.

Transitional changes in the atmospheric boundary layer (ABL) are known to facilitate the onset of terrestrial fog, which is defined as a condition with near‐surface visibility <1 km due to airborne water droplets. In particular, the evening transition from a daytime convective ABL to a night‐time stable ABL provides favorable conditions for fog. This article describes a local fog event observed during the evening transition at a Canadian islet in the north Atlantic known as Sable Island during the “Fog and Turbulence Interactions in the Marine Atmosphere (Fatima)” field campaign. The comprehensive set of data collected using a myriad of instruments covering a wide range of scales allowed identification of a novel mechanism underlying this fog event. Therein an ocean–land discontinuity created a flow regime consisting of several stacked boundary layers, interplay of which produced a thin low‐level cloud that then diffused downward to the surface, causing visibility reduction. This mechanism offers useful insights on the role of boundary layers, stratification, and turbulence in fog genesis over oceanic islands.

Scholars theorize the effect of modernization on religious and familial institutions in a parallel way. Some argue that both are irreversibly in decline—as secularization and deinstitutionalization, respectively—while others argue that they have either merely changed or are in fact growing stronger. However, correctly interpreting institutional change depends not only on how one evaluates the empirical starts and endpoints but also on how one defines the domains under change themselves. In this paper, I examine these debates, detail the structural similarities in their arguments, and outline a new analytical approach informed by recent work in institutional logics to better answer the definitional questions. Theorizing both institutions together and their parallel trajectories in modernity reveals unique insights about the scholarly discourse on modernization and is especially important given the unique influence of religion and family on one another as (seemingly) privatized spheres of social life.

Families manage daily conflict through communication and healthy family communication is critical to promoting better family relationships and youth adjustment. Community families without high‐risk factors, such as domestic dispute or clinical problems, are no less affected by the ramifications of poor communication and conflict management. However, there is limited translational research on community families analyzing the changes in parent–adolescent communication quality. This study aimed to test whether a brief 4‐week family conflict intervention improved openness and problems in mother–adolescent (MA) and father–adolescent (DA) communication and whether mothers, fathers, and adolescents experienced the intervention effects differently. A total of 225 community families with adolescents were randomly assigned to either a parent–adolescent treatment condition (PA: n = 75), parent‐only treatment condition (PO: n = 75), or control condition ( n = 75). Mother, father, and adolescent reports on parent–adolescent communication were analyzed from pretest through a 3‐year follow‐up assessment, over five waves. ANCOVA results indicated significant intervention effects at posttest for mother‐reported openness in MA communication, youth‐reported openness in DA communication, and father‐reported problems in DA communication, for PA condition. No significant intervention effects were found for PO condition. Exploratory trajectory analysis revealed the necessity of testing both linear and nonlinear models to be able to best illustrate the 3‐year change trajectories of parent–adolescent communication quality. Resulting trajectories revealed interesting variations in longitudinal changes across three intervention conditions. The findings highlight the importance of involving fathers and adolescents in family intervention programs and the necessity of multi‐informant assessment to better clarify the interplay among different family members behind the intervention effects.

The National Health and Nutrition Examination Survey (NHANES) is a major program of the National Center for Health Statistics, designed to assess the health and nutritional status of adults and children in the United States. The analysis of NHANES dental caries data faces several challenges, including (1) the data were collected using a complex, multistage, stratified, unequal-probability sampling design; (2) the sample size of some primary sampling units (PSU), e.g., counties, is very small; (3) the measures of dental caries have complicated structure and correlation, and (4) there is a substantial percentage of nonresponses, which are expected not to be missing at random or non-ignorable. We propose a Bayesian hierarchical spatial model to address these analysis challenges. We develop a two-level Potts model that closely resembles the caries evolution process, and captures complicated spatial correlations between teeth and surfaces of the teeth. By adding Bayesian hierarchies to the Potts model, we account for the multistage survey sampling design, while also enabling information borrowing across PSUs for small-area estimation. We incorporate sampling weights by including them as a covariate in the model and adopt flexible B-splines to achieve robust inference. We account for non-ignorable missing outcomes and covariates using the selection model. We use data augmentation coupled with the noisy Monte Carlo algorithm to overcome the numerical difficulty caused by doubly-intractable normalizing constants and sample posteriors. Our analysis results show strong spatial associations between teeth and tooth surfaces, including that dental hygienic factors, such as fluorosis and sealant, reduce dental disease risks.

Over the past century, rapid urbanization has greatly altered landscapes and affected atmospheric conditions causing impacts across a wide range of sectors including human welfare, infrastructure, and ecosystems. As a result, there is a growing imperative to improve understanding of urbanization impacts on local and regional weather events and hydroclimates. This study investigates how urbanization affects precipitation and cloud fraction (CF) in the vicinity of Indianapolis. We employ multi‐month simulations using the Weather Research and Forecasting model to: (a) assess the impact of an urban area on precipitation and CF, (b) quantify how this impact varies with urban growth, and (c) examine the main mechanisms through which the city alters the local hydroclimate. Specifically, two perturbed simulations, where the urban land cover is either replaced by croplands or is increased in size, are also performed for the two rainiest months. Comparisons of the control run with no city against the perturbed runs indicate statistically significant impacts of the urban area in enhancing precipitation amounts, frequency and low‐level CF, particularly within the first 100 km radius downwind of the city boarder. The urban environment is found to increase precipitation efficiency over the city and in downwind regions. Temperature at 2 m height, planetary boundary layer height, turbulent kinetic energy, and convective available potential energy, are also enhanced in the perturbed runs and drive changes in vertical mixing, downwind precipitation amounts, frequency and low‐level height CF. All these changes appear to be a non‐linear function of the city size.

Prior literature documents a positive (negative) relation between past (future) stock returns and both external financing and capital expenditures. In this study, we examine whether managers’ financing and capital expenditure decisions are associated with firm-level investor favoritism (neglect) and, therefore, whether managers exploit investor mispricing by issuing more (less) capital and investing more (less) in capital expenditures when firm-level investor sentiment is high (low), which leads to more negative future stock returns. We employ both a stock’s extreme return momentum and extreme trading volume to capture firm-level investor favoritism (neglect), which reflects firm-level investor overpricing (underpricing) due to investor sentiment. We find that both external financing and capital expenditure decisions are positively (negatively) associated with favoritism (neglect) and that the previously documented negative association between future stock returns and external financing is more pronounced in periods of favoritism. However, we find no association between future stock returns and capital expenditures after controlling for external financing. These findings suggest that managers’ financing and capital expenditure decisions are associated with firm-level investor favoritism/neglect, and that managers exploit investor mispricing in making financing decisions, resulting in lower future stock returns.

Background Despite recent advances, optimal therapeutic approaches applicable to subpopulations with primary central nervous system (CNS) lymphoma outside of clinical trials remain to be determined. Methods We performed a retrospective study of immunocompetent, adult patients with histologically confirmed diffuse large B‐cell lymphoma of the CNS (PCNSL). 190/204 (93%) patients (median age: 65) received one of five high‐dose methotrexate (HD‐MTX) containing chemotherapy regimens: MPV/Ara‐C (HD‐MTX, procarbazine, and vincristine, followed by cytarabine [Ara‐C]) ( n = 94, 50%), MATRix (HD‐MTX, Ara‐C, thiotepa, and rituximab) ( n = 19, 10%), HD‐MTX/Ara‐C ( n = 31, 16%), HD‐MTX monotherapy ( n = 35, 18%) and MBVP (HD‐MTX, carmustine, teniposide, prednisolone) ( n = 11, 6%). Results Cumulative median HD‐MTX and Ara‐C doses were 17 g/m ² (range: 1–64 g/m ² ) and 12 g/m ² (0–32 g/m ² ) respectively. Using 14 g/m ² as the reference dose, the median HD‐MTX relative dose intensity (HD‐MTX‐RDI) was 1.25 (0.27‐4.57) with 84% receiving > 0.75. The overall response rate (ORR) was 72% (complete response: 50%) after completing HD‐MTX. At a median follow‐up of 3.41 years (0.06–9.42), progression‐free survival (PFS) and overall survival (OS) were different between chemotherapy cohorts, with the best outcomes achieved in the MPV/Ara‐C cohort (2‐year PFS 74%, 2‐year OS 82%; p = 0.0001 and p = 0.0024 respectively). On multivariate analysis, MPV/Ara‐C administration and HD‐MTX‐RDI > 0.75 were associated with longer PFS and OS. Conclusion Sequential, response‐adapted approaches can improve outcomes, even in older patients who are ineligible for a high‐intensity concurrent chemotherapy approach and do not undergo traditional consolidative strategies.

Cube-machining test is a possible method for evaluating the accuracy of five-axis machining centers. Although the geometric errors of rotary axes can be evaluated by measuring the height and inclination errors of the machined surfaces, other error sources, such as tool length and profile errors, influence the machining accuracy. Clarifying the factors that influence the machined result is necessary to correctly evaluate the machine tool accuracy based on the cube-machining test results. In this study, the effect of tool path and Z-axis reversal error motion on the cube-machining test accuracy was investigated. Actual machining tests were conducted with three types of the reversal error conditions of Z-axis. The Z-axis reversal error directly affected the results owing to different Z-axis motions for each surface of the workpiece. Based on the investigation, for the machining, a tool path pattern, which can reduce the influence of the Z-axis reversal errors by restricting the motion direction changes of Z-axis for all surfaces, was proposed. According to the Z-axis reversal error test results, the surfaces machined using the proposed tool path were not affected by the reversal error.

The gut microbiome changes with age and affects regions beyond the gut, including the ovarian cancer tumor microenvironment. In this review summarizing the literature on the gut microbiome in ovarian cancer and in aging, we note trends in the microbiota composition common to both phenomena and trends that are distinctly opposite. Both ovarian cancer and aging are characterized by an increase in proinflammatory bacterial species, particularly those belonging to phylum Proteobacteria and genus Escherichia, and a decrease in short‐chain fatty acid producers, particularly those in Clostridium cluster XIVa (family Lachnospiraceae) and the Actinobacteria genus Bifidobacterium. However, although beneficial bacteria from family Porphyromonadaceae and genus Akkermansia tend to increase with normal, healthy aging, these bacteria tend to decrease in ovarian cancer, similar to what is observed in obesity or unhealthy aging. We also note a lack in the current literature of research demonstrating causal relationships between the gut microbiome and ovarian cancer outcomes and research on the gut microbiome in ovarian cancer in the context of aging, both of which could lead to improvements to ovarian cancer diagnosis and treatment.

Exploration of molecular catalysts with the atomic‐level tunability of molecular structures offers promising avenues for developing high‐performance catalysts for the electrochemical co‐reduction reaction of carbon dioxide (CO2) and nitrite (NO2⁻) into value‐added urea. In this work, a binuclear cobalt phthalocyanine (biCoPc) catalyst is prepared through chemical synthesis and applied as a C─N coupling catalyst toward urea. Achieving a remarkable Faradaic efficiency of 47.4% for urea production at –0.5 V versus reversible hydrogen electrode (RHE), this biCoPc outperforms many known molecular catalysts in this specific application. Its unique planar macromolecular structure and the increased valence state of cobalt promote the adsorption of nitrogenous and carbonaceous species, a critical factor in facilitating the multi‐electron C─N coupling. Combining highly sensitive in situ attenuated total reflection surface‐enhanced infrared absorption spectroscopy (ATR‐SEIRAS) with density functional theory (DFT) calculations, the linear adsorbed CO (COL) and bridge adsorbed CO (COB) is captured on biCoPc catalyst during the co‐reduction reaction. COB, a pivotal intermediate in the co‐reduction from CO2 and nitrite to urea, is evidenced to be labile and may be attacked by nitrite, promoting urea production. This work demonstrates the importance of designing molecular catalysts for efficient co‐reduction of CO2 and nitrite to urea.

As a neighbor of carbon in the periodic table, boron exhibits versatile structural and electronic configurations, with its allotropes predicted to possess intriguing structures and properties. Since the experimental realization of two‐dimensional (2D) boron sheets (borophene) on Ag(111) substrates in 2015, the experimental study of the realization and characteristics of borophene has drawn increasing interest. In this review, we summarize the synthesis and properties of borophene, which are mainly based on experimental results. First, the synthesis of borophene on different substrates, as well as borophane and bilayer borophene, featuring unique phases and properties, are discussed. Next, the chemistry of borophene, such as oxidation, hydrogenation, and its integration into heterostructures with other materials, is summarized. We also mention a few works focused on the physical properties of borophene, specifically its electronic properties. Lastly, the brief outlook addresses challenges toward practical applications of borophene and possible solutions.

Air pollution is arguably the most pressing human health concern today, accounting for approximately 7–9 million premature deaths worldwide. In the United States, more than 40% of early deaths caused by air pollution are assessed to be caused by emissions produced by neighboring states. This article examines one of the governance mechanisms used by the U.S. to address this issue: section 126 of the Clean Air Act. Critical factors including case length, evidence used, and case outcome are compiled for the population of section 126 petitions submitted from 2000–2022. This evidence is assessed using comparative case analysis. The findings reinforce two issues with the petition process already identified in the literature–the use of cost as a proxy for significance and the excessive and unclear burden of proof placed on downwind states–adding texture to the latter issue by examining the modeling techniques used by downwind states. This analysis identifies lengthy response timelines as an additional issue and calls to attention the infrequency with which the EPA has formally accepted petitions. Collectively, these issues increase the cost, complexity, and unpredictability of filing a section 126 petition.

Understanding the recombination lifetime of charge carriers (τc$\left(\tau\right)_{\text{c}}$) is essential for the diverse applications of photovoltaic materials, such as perovskites. The study on the inorganic perovskite, CsPbBr3, reveals recombination dynamics exceeding 1 ms below 200 K and τc$\left(\tau\right)_{\text{c}}$ approaching 100 μs at room temperature. Utilizing time‐resolved microwave‐detected photoconductivity decay in conjunction with injection dependence, it is found that τc$\left(\tau\right)_{\text{c}}$ is dominated by impurity charge trapping. The observed injection dependence is well corroborated by modeling of the trap mechanism. The ultralong decay time is also consistent with photoconductivity measurements with a continuous‐wave excitation at powers corresponding to around 1 Sun irradiation. While charge‐carrier trapping may, in theory, impose limitations on the photovoltaic efficiency of single‐cell devices, it can also contribute to increased efficiency in tandem cells and find applications in photodetection, photocatalysis, and quantum information storage.

Background: Eating disorders (ED) are one of the most common psychiatric illnesses that may lead to physical and psychosocial morbidity in children. Our study aimed to determine the prevalence and factors associated with a positive screening for ED among children and young adolescents in multiple Lebanese schools. Method: This cross-sectional study included a convenience sample of 253 students (45.5% females; 76.3% Syrian refugees) aged between 8 and 13 years and recruited from Lebanese private schools. Students were interviewed between February and June 2018 to collect information about sociodemographic factors and health characteristics. Logistic regression analyses were performed, using the SCOFF questionnaire for screening ED as the dependent variable. Results: Among the students, 36.4% tested positive for SCOFF. Logistic regression analyses revealed significant associations between a positive screening for ED and the following factors: being between 8 and 9 years old (p = 0.029), obesity (p = 0.010), experiencing fatigue (p = 0.017), encountering a stressful accident (p = 0.027), undergoing changes in residence, school, or country (p = 0.01), consuming meals from restaurants ≥3/week (p = 0.013), consuming ≤2 fruits/week (p = 0.01) and consuming ≥5 eggs/week (p = 0.01). Approximately 13.4% of students were underweight, while 24.5% were classified as overweight or obese. One-third (32.1%) of students spent between 2 and 5 h/day using digital devices. Half of the students (54.1%) purchased fast food ≥3/week from school cafeterias, and over three-quarters reported fluctuating their food intake in response to emotions such as sadness, fear, anger, or happiness. Conclusion: These findings emphasize the importance of early detection and intervention in addressing abnormal eating behaviors among children.