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Abstract A paradigm in paleoclimatology holds that shifts in the mean position of the Intertropical Convergence Zone were the dominant climatic mechanism controlling rainfall in the tropics during the last glacial period. We present a new paleo-rainfall reconstruction based on speleothem stable oxygen isotopes record from Colombia, which spans most of the last glacial cycle. The strength and positioning of the Intertropical Convergence Zone over northern South America were more strongly affected by summer insolation at high northern latitudes than by local insolation during the last glacial cycle, resulting in an antiphased relationship with climate in the Cariaco Basin. Our data also provide new insight into how orbital forcing amplified/dampened Intertropical Convergence Zone precipitation during millennial-scale events. During Greenland Stadial events, the Intertropical Convergence Zone was positioned close to the latitude of El Peñon, as expressed by more negative δ¹⁸O values. Greenland Interstadial events are marked by relatively high stable oxygen isotope values and reduced rainfall in the El Peñon record, suggesting a northward withdrawal of the Intertropical Convergence Zone. During some Heinrich Stadial events, and especially Heinrich Stadial 1, the Intertropical Convergence Zone must have been displaced away from its modern location near El Peñon, as conditions were very dry at both El Peñon and Cariaco. 

Use of mobile phones today has become pervasive throughout society. A common use of a phone involves calling another person using VoIP apps. However the OSes on mobile devices are prone to compromise creating a risk for users who want to have private conversations when calling someone. Mobile devices today provide a hardware-protected mode called trusted execution environment (TEE) to protect users from a compromised OS. In this paper we propose a design to allow a user to make a secure end-to-end protected VoIP call from a compromised mobile phone. We implemented our design, TruzCall using Android OS and TrustZone TEE running OP-TEE OS. We built a prototype using the TrustZone-enabled Hikey development board and tested our design using the open source VoIP app Linphone. Our testing utilizes a simulation based environment that allows a Hikey board to use a real phone for audio hardware. 

Objective of this study is to prepare the binder jetting feedstock powder by spray freeze drying and study the effects of its parameters on the powder properties. Binder jetting additive manufacturing is a promising technology for fabricating ceramic parts with complex or customized geometries. However, this process is limited by the relatively low density of the fabricated parts even after sintering. The main cause comes from the contradicting requirements of the particle size of the feedstock powder: a large particle size (>5 μm) is required for a high flowability while a small particle size (<1 μm) for a high sinterability. For the first time, a novel technology for the feedstock material preparation, called spray freeze drying, is investigated to address this contradiction. Using raw alumina nanopowder (100 nm), a full factorial design at two levels for two factors (spraying pressure and slurry feed rate) was formed to study their effects on the properties (i.e., granule size, flowability, and sinterability) of the obtained granulated powder. Results show that high pressure and small feed rate lead to small granule size. Compared with the raw powder, the flowability of the granulated powders was significantly increased, and the high sinterability was also maintained. This study proves that spray freeze granulation is a promising technology for the feedstock powder preparation of binder jetting additive manufacturing. 

The objective of this study is to compare three different feedstock powders for the binder jetting process by characterizing their flowability and sinterability. Binder jetting additive manufacturing is a promising technology for fabricating ceramic parts with complex or customized geometries. Granulation is a promising material preparation method due to the potential high sinterability and flowability of the produced powder. However, no study has been made to systematically compare raw and granulated powders in terms of their flowing and sintering behaviors. This paper aims at filling this knowledge gap. Two raw powders (i.e., fine raw powder of 300 nm and coarse raw powder of 70 μm) and one granulated powder from spray freeze drying were compared. Different flowability metrics, including volumetric flow rate, mass flow rate, Hausner ratio, Carr index, and repose angle were measured. Different sinterability metrics, including sintered bulk density, volume shrinkage, and densification ratio were compared for all three powders. Results show that granulated powder achieved comparably high flowability to that of the coarse raw powder and also comparably high sinterability to that of the fine raw powder. Moreover, suitable metrics for the characterization of the sinterability and flowability for these three powders are recommended. This study suggests spray freeze drying produces high-quality feedstock powder for binder jetting process. 

The 2D Multi-Agent Path Finding (MAPF) problem aims at finding collision-free paths for a number of agents, from a set of start locations to a set of goal locations in a known 2D environment. MAPF has been studied in theoretical computer science, robotics, and artificial intelligence over several decades, due to its importance for robot navigation. It is currently experiencing significant scientific progress due to its relevance for automated warehouses (such as those operated by Amazon) and other important application areas. In this paper, we demonstrate that some recently developed MAPF algorithms apply more broadly than currently believed in the MAPF research community. In particular, we describe the 3D Pipe Routing (PR) problem, which aims at placing collision-free pipes from given start locations to given goal locations in a known 3D environment. The MAPF and PR problems are similar: a solution to a MAPF instance is a set of blocked cells in x-y-t space, while a solution to the corresponding PR instance is a set of blocked cells in x-y-z space. We show how to use this similarity to apply several recently developed MAPF algorithms to the PR problem, and discuss their performance on real-world PR instances. This opens up a new direction of industrial relevance for the MAPF research community.