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Our group is developing a cyber-physical walking system (CPWS) for people paralyzed by spinal cord injuries (SCI). The current CPWS consists of a functional neuromuscular stimulation (FNS) system and a powered lower-limb exoskeleton for walking with leg movements in the sagittal plane. We are developing neural control systems that learn to assist the user of this CPWS to walk with stability. In a previous publication (Liu et al., Biomimetics, 2019, 4, 28), we showed a neural controller that stabilized a simulated biped in the sagittal plane. We are considering adding degrees of freedom to the CPWS to allow more natural walking movements and improved stability. Thus, in this paper, we present a new neural network enhanced control system that stabilizes a three-dimensional simulated biped model of a human wearing an exoskeleton. Results show that it stabilizes human/exoskeleton models and is robust to impact disturbances. The simulated biped walks at a steady pace in a range of typical human ambulatory speeds from 0.7 to 1.3 m/s, follows waypoints at a precision of 0.3 m, remains stable, and continues walking forward despite impact disturbances and adapts its speed to compensate for persistent external disturbances. Furthermore, the neural network controller stabilizes human models of different statures from 1.4 to 2.2 m tall without any changes to the control parameters. Please see videos at the following link: 3D biped walking control . 

Estimating center of mass (COM) through sensor measurements is done to maintain walking and standing stability with exoskeletons. The authors present a method for estimating COM kinematics through an artificial neural network, which was trained by minimizing the mean squared error between COM displacements measured by a gold-standard motion capture system and recorded acceleration signals from body-mounted accelerometers. A total of 5 able-bodied participants were destabilized during standing through: (1) unexpected perturbations caused by 4 linear actuators pulling on the waist and (2) volitionally moving weighted jars on a shelf. Each movement type was averaged across all participants. The algorithm’s performance was quantified by the root mean square error and coefficient of determination ( R 2 ) calculated from both the entire trial and during each perturbation type. Throughout the trials and movement types, the average coefficient of determination was 0.83, with 89% of the movements with R 2  > .70, while the average root mean square error ranged between 7.3% and 22.0%, corresponding to 0.5- and 0.94-cm error in both the coronal and sagittal planes. COM can be estimated in real time for balance control of exoskeletons for individuals with a spinal cord injury, and the procedure can be generalized for other gait studies. 

A control system for simulated two-dimensional bipedal walking was developed. The biped model was built based on anthropometric data. At the core of the control is a Deep Deterministic Policy Gradients (DDPG) neural network that is trained in GAZEBO, a physics simulator, to predict the ideal foot location to maintain stable walking under external impulse load. Additional controllers for hip joint movement during stance phase, and ankle joint torque during toeoff, help to stabilize the robot during walking. The simulated robot can walk at a steady pace of approximately 1m/s, and during locomotion it can maintain stability with a 30N-s impulse applied at the torso. This work implement DDPG algorithm to solve biped walking control problem. The complexity of DDPG network is decreased through carefully selected state variables and distributed control system. 

The first measurements of proton emission accompanied by neutron emission in the electromagnetic dissociation (EMD) of ${}^{208}\mathrm{Pb}$nuclei in the ALICE experiment at the Large Hadron Collider are presented. The EMD protons and neutrons emitted at very forward rapidities are detected by the proton and neutron zero degree calorimeters of the ALICE experiment. The emission cross sections of zero, one, two, and three protons accompanied by at least one neutron were measured in ultraperipheral ${}^{208}\mathrm{Pb}\text{−}{}^{208}\mathrm{Pb}$collisions at a center-of-mass energy per nucleon pair $\sqrt{s_{NN}}=5.02\mathrm{TeV}$. The 0p and 3p cross sections are described by the RELDIS model within their measurement uncertainties, while the 1p and 2p cross sections are underestimated by the model by 17–25%. According to this model, these 0p, 1p, 2p, and 3p cross sections are associated, respectively, with the production of various isotopes of Pb, Tl, Hg, and Au in the EMD of ${}^{208}\mathrm{Pb}$. The cross sections of the emission of a single proton accompanied by the emission of one, two, or three neutrons in EMD were also measured. The data are significantly overestimated by the RELDIS model, which predicts that the (1p,1n), (1p,2n), and (1p,3n) cross sections are very similar to the cross sections for the production of the thallium isotopes ${}^{206,205,204}\mathrm{Tl}$. ©2025 CERN, for the ALICE Collaboration2025CERN 

Abstract The ALICE Collaboration at the CERN LHC has measured the inclusive production cross section of isolated photons at midrapidity as a function of the photon transverse momentum ($$p_{\textrm{T}}^{\gamma }$$ $p_{\text{T}}^{\gamma }$), in Pb–Pb collisions in different centrality intervals, and in pp collisions, at centre-of-momentum energy per nucleon pair of$$\sqrt{s_{\textrm{NN}}}~=~5.02$$ $\sqrt{s_{\text{NN}}}=5.02$ TeV. The photon transverse momentum range is between 10–14 and 40–140 GeV/$$c$$ $c$, depending on the collision system and on the Pb–Pb centrality class. The result extends to lower$$p_{\textrm{T}}^{\gamma }$$ $p_{\text{T}}^{\gamma }$than previously published results by the ATLAS and CMS experiments at the same collision energy. The covered pseudorapidity range is$$|\eta ^{\gamma } | <0.67$$ $|{\eta }^{\gamma }|<0.67$. The isolation selection is based on a charged particle isolation momentum threshold$$p_{\textrm{T}}^\mathrm{iso,~ch} = 1.5$$ $p_{\text{T}}^{\mathrm{iso},\mathrm{ch}}=1.5$ GeV/$$c$$ $c$within a cone of radii$$R=0.2$$ $R=0.2$and 0.4. The nuclear modification factor is calculated and found to be consistent with unity in all centrality classes, and also consistent with the HG-PYTHIA model, which describes the event selection and geometry biases that affect the centrality determination in peripheral Pb–Pb collisions. The measurement is compared to next-to-leading order perturbative QCD calculations and to the measurements of isolated photons and Z$$^{0}$$ $_{}^0$bosons from the CMS experiment, which are all found to be in agreement. 

Abstract ALICE is a large experiment at the CERN Large Hadron Collider. Located 52 meters underground, its detectors are suitable to measure muons produced by cosmic-ray interactions in the atmosphere. In this paper, the studies of the cosmic muons registered by ALICE during Run 2 (2015–2018) are described.The analysis is limited to multimuon events defined as events with more than four detected muons (N_μ> 4) and in the zenith angle range 0° < θ < 50°. The results are compared with Monte Carlo simulations using three of the main hadronic interaction models describing the air shower development in the atmosphere: QGSJET-II-04, EPOS-LHC, and SIBYLL 2.3d.The interval of the primary cosmic-ray energy involved in the measuredmuon multiplicity distribution is about4 × 10¹⁵<E_prim< 6 × 10¹⁶eV.In this interval none of the three models is able to describe precisely the trend of the composition of cosmic rays as the energy increases. However,QGSJET-II-04 is found to be the only model capable of reproducing reasonably well the muon multiplicity distribution, assuming a heavy composition of the primary cosmic raysover the whole energy range, while SIBYLL 2.3d and EPOS-LHC underpredict thenumber of muons in a large interval of multiplicity by more than 20% and 30%, respectively.The rate of high muon multiplicity events (N_μ> 100) obtainedwith QGSJET-II-04 and SIBYLL 2.3d is compatible with the data, while EPOS-LHC produces a significantly lower rate (55% of the measured rate). For both QGSJET-II-04 and SIBYLL 2.3d, the rate is close to the data when the composition is assumed to be dominated by heavy elements, an outcome compatible with the average energy E_prim∼ 10¹⁷eV of these events.This result places significant constraints on more exotic production mechanisms. 

A<sc>bstract</sc> Thep_T-differential cross section ofωmeson production in pp collisions at$$ \sqrt{s} $$ $\sqrt{s}$= 13 TeV at midrapidity (|y| <0.5) was measured with the ALICE detector at the LHC, covering an unprecedented transverse-momentum range of 1.6< p_T<50 GeV/c. The meson is reconstructed via theω→π⁺π⁻π⁰decay channel. The results are compared with various theoretical calculations: PYTHIA8.2 with the Monash 2013 tune overestimates the data by up to 50%, whereas good agreement is observed with Next-to-Leading Order (NLO) calculations incorporatingωfragmentation using a broken SU(3) model. Theω/π⁰ratio is presented and compared with theoretical calculations and the available measurements at lower collision energies. The presented data triples thep_Tranges of previously available measurements. A constant ratio ofC^ω/π0= 0.578 ± 0.006 (stat.) ± 0.013 (syst.) is found above a transverse momentum of 4 GeV/c, which is in agreement with previous findings at lower collision energies within the systematic and statistical uncertainties.