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Recent advances in machine learning have paved the way for the development of musical and entertainment robots. However, human-robot cooperative instrument playing remains a challenge, particularly due to the intricate motor coordination and temporal synchronization. In this paper, we propose a theoretical framework for human-robot cooperative piano playing based on non-verbal cues. First, we present a music improvisation model that employs a recurrent neural network (RNN) to predict appropriate chord progressions based on the human's melodic input. Second, we propose a behavior-adaptive controller to facilitate seamless temporal synchronization, allowing the cobot to generate harmonious acoustics. The collaboration takes into account the bidirectional information flow between the human and robot. We have developed an entropy-based system to assess the quality of cooperation by analyzing the impact of different communication modalities during human-robot collaboration. Experiments demonstrate that our RNN-based improvisation can achieve a 93\% accuracy rate. Meanwhile, with the MPC adaptive controller, the robot could respond to the human teammate in homophony performances with real-time accompaniment. Our designed framework has been validated to be effective in allowing humans and robots to work collaboratively in the artistic piano-playing task., Comment: 20 pages

Understanding how elemental abundances evolve during solar flares helps shed light on the mass and energy transfer between different solar atmospheric layers. However, prior studies have mostly concentrated on averaged abundances or specific flare phases, leaving a gap in exploring the comprehensive observations throughout the entire flare process. Consequently, investigations into this area are relatively scarce. Exploiting the Solar X-ray Monitor data obtained from the Chang'E-2 lunar orbiter, we present two comprehensive soft X-ray spectroscopic observations of flares in active regions, AR 11149 and 11158, demonstrating elemental abundance evolutions under different conditions. Our findings unveil the inverse first ionization potential (IFIP) effect during flares for Fe for the first time, and reaffirm its existence for Si. Additionally, we observed a rare depletion of elemental abundances, marking the second IFIP effect in flare decay phases. Our study offers a CSHKP model-based interpretation to elucidate the formation of both the FIP and IFIP effects in flare dynamics, with the inertia effect being incorporated into the ponderomotive force fractionation model., Comment: Accepted ApJ

In this paper, we present a deep surrogate model for learning the Green's function associated with the reaction-diffusion operator in rectangular domain. The U-Net architecture is utilized to effectively capture the mapping from source to solution of the target partial differential equations (PDEs). To enable efficient training of the model without relying on labeled data, we propose a novel loss function that draws inspiration from traditional numerical methods used for solving PDEs. Furthermore, a hard encoding mechanism is employed to ensure that the predicted Green's function is perfectly matched with the boundary conditions. Based on the learned Green's function from the trained deep surrogate model, a fast solver is developed to solve the corresponding PDEs with different sources and boundary conditions. Various numerical examples are also provided to demonstrate the effectiveness of the proposed model., Comment: 18 pages, 15 figures

Continuous monitoring of human vital signs using non-contact mmWave radars is attractive due to their ability to penetrate garments and operate under different lighting conditions. Unfortunately, most prior research requires subjects to stay at a fixed distance from radar sensors and to remain still during monitoring. These restrictions limit the applications of radar vital sign monitoring in real life scenarios. In this paper, we address these limitations and present "Pi-ViMo", a non-contact Physiology-inspired Robust Vital Sign Monitoring system, using mmWave radars. We first derive a multi-scattering point model for the human body, and introduce a coherent combining of multiple scatterings to enhance the quality of estimated chest-wall movements. It enables vital sign estimations of subjects at any location in a radar's field of view. We then propose a template matching method to extract human vital signs by adopting physical models of respiration and cardiac activities. The proposed method is capable to separate respiration and heartbeat in the presence of micro-level random body movements (RBM) when a subject is at any location within the field of view of a radar. Experiments in a radar testbed show average respiration rate errors of 6% and heart rate errors of 11.9% for the stationary subjects and average errors of 13.5% for respiration rate and 13.6% for heart rate for subjects under different RBMs.

With the explosive increase of User Generated Content (UGC), UGC video quality assessment (VQA) becomes more and more important for improving users' Quality of Experience (QoE). However, most existing UGC VQA studies only focus on the visual distortions of videos, ignoring that the user's QoE also depends on the accompanying audio signals. In this paper, we conduct the first study to address the problem of UGC audio and video quality assessment (AVQA). Specifically, we construct the first UGC AVQA database named the SJTU-UAV database, which includes 520 in-the-wild UGC audio and video (A/V) sequences, and conduct a user study to obtain the mean opinion scores of the A/V sequences. The content of the SJTU-UAV database is then analyzed from both the audio and video aspects to show the database characteristics. We also design a family of AVQA models, which fuse the popular VQA methods and audio features via support vector regressor (SVR). We validate the effectiveness of the proposed models on the three databases. The experimental results show that with the help of audio signals, the VQA models can evaluate the perceptual quality more accurately. The database will be released to facilitate further research.

Solar energetic particles (SEPs) associated with flares and/or coronal mass ejection (CME)-driven shocks can impose acute radiation hazards to space explorations. To measure energetic particles in near-Mars space, the Mars Energetic Particle Analyzer (MEPA) instrument onboard China's Tianwen-1 (TW-1) mission was designed. Here, we report the first MEPA measurements of the widespread SEP event occurring on 29 November 2020 when TW-1 was in transit to Mars. This event occurred when TW-1 and Earth were magnetically well connected, known as the Hohmann-Parker effect, thus offering a rare opportunity to understand the underlying particle acceleration and transport process. Measurements from TW-1 and near-Earth spacecraft show similar double-power-law spectra and a radial dependence of the SEP peak intensities. Moreover, the decay phases of the time-intensity profiles at different locations clearly show the reservoir effect. We conclude that the double-power-law spectrum is likely generated at the acceleration site, and that a small but finite cross-field diffusion is crucial to understand the formation of the SEP reservoir phenomenon. These results provide insight into particle acceleration and transport associated with CME-driven shocks, which may contribute to the improvement of relevant physical models., Comment: This manuscript has been accepted for publication in The Astrophysical Journal Letters

To reveal the effect of secondary electron emission on the charging properties of a surface covered by micron-sized insulating dust particles and the migration characteristics of these particles, for the first time, we used a laser Doppler method to measure the diameters and velocities of micron-sized anorthite particles under electron beam irradiation with an incident energy of 350 eV. Here, anorthite particles are being treated as a proxy for lunar regolith. We experimentally confirm that the vertical transport of anorthite particles is always dominant, although the horizontal transport occurs. In our experiments, some anorthite particles were observed to have large vertical velocities up to 9.74 m~s$^{-1}$ at the measurement point. The upper boundary of the vertical velocities $V_{\rm{z}}$ of these high-speed anorthite particles are well constrained by its diameter $D$, that is, $V_{\rm{z}}^2$ linearly depends on $D^{-2}$. These velocity-diameter data provide strong constraints on the dust charging and transportation mechanisms. The shared charge model could not explain the observed velocity-diameter data. Both the isolated charge model and patched charge model appear to require a large dust charging potential of $-$350 to $-$78 V to reproduce the observed data. The micro-structures of the dusty surface may play an important role in producing this charging potential and in understanding the pulse migration phenomenon observed in our experiment. The presented results and analysis in this paper are helpful for understanding the dust charging and electrostatic transport mechanisms in airless celestial bodies such as the Moon and asteroids in various plasma conditions.