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Recently, the application of autonomous driving in open-pit mining has garnered increasing attention for achieving safe and efficient mineral transportation. Compared to urban structured roads, unstructured roads in mining sites have uneven boundaries and lack clearly defined lane markings. This leads to a lack of sufficient constraint information for predicting the trajectories of other human-driven vehicles, resulting in higher uncertainty in trajectory prediction problems. A method is proposed to predict multiple possible trajectories and their probabilities of the target vehicle. The surrounding environment and historical trajectories of the target vehicle are encoded as a rasterized image, which is used as input to our deep convolutional network to predict the target vehicle's multiple possible trajectories. The method underwent offline testing on a dataset specifically designed for autonomous driving scenarios in open-pit mining and was compared and evaluated against physics-based method. The open-source code and data are available at https://github.com/LLsxyc/mine_motion_prediction.git, Comment: 11 pages,6 figures

Recently, Floquet topological matter has attracted significant attention for its potential to reveal novel topological phases inaccessible in static systems. In this work, we investigate the effect of a time-periodic driving on the five-dimensional (5D) normal insulators. We show that the time-periodic driving can induce a topological phase transition from a TP (time reversal combined with space inversion) symmetry-preserving normal insulator to a 5D Floquet topological semimetal with emergent Yang monopoles characterized by the second Chern number. Additionally, we show that this time-periodic driving can also lead to a topological phase transition from a TP symmetry-breaking normal insulator to a 5D Floquet topological semimetal with a Hopf link formed by Weyl surfaces. Besides, further increasing the strength of the time-periodic driving, the two 5D Floquet topological semimetal phases transition into the 5D Floquet Chern insulators. Our work is helpful for future studies in higher dimensional Floquet systems.

Strong self-interference due to the co-located transmitter is the bottleneck for implementing an in-band full-duplex (IBFD) system. If not adequately mitigated, the strong interference can saturate the receiver's analog-digital converters (ADCs) and hence void the digital processing. This paper considers utilizing a reconfigurable intelligent surface (RIS), together with a receiving (Rx) phase shifter network (PSN), to mitigate the strong self-interference through jointly optimizing their phases. This method, named self-interference mitigation using RIS and PSN (SIMRP), can suppress self-interference to avoid ADC saturation effectively and therefore improve the sum rate performance of communication systems, as verified by the simulation studies., Comment: 6 pages, 4 figures, accepted by IEEE WCSP 2024

This paper investigates the prescribed-time smooth control problem for a class of uncertain nonholonomic systems. With a novel smooth time-varying state transformation, the uncertain chained nonholonomic system is reformulated as an uncertain linear time-varying system. By fully utilizing the properties of a class of parametric Lyapunov equations and constructing time-varying Lyapunov-like functions, smooth time-varying high-gain state and output feedback controllers are designed. The states and controllers are proven to converge to zero at any prescribed time. The proposed smooth time-varying method combines the advantage of a time-varying high-gain function, which enhances control performance, and a smooth time-varying function that can drive the states to zero at the prescribed time. The effectiveness of the proposed methods is verified by a numerical example.

The interplay between magnetism and strong topological insulator gives rise to distinct new topological phases and various intriguing phenomena, attracting significant attention in recent years. However, magnetic effects in weak topological insulators remain largely unexplored. In this work, we systematically investigate the magnetic effect on thin films of weak topological insulators. We focus on ferromagnetic and antiferromagnetic effects, which have been extensively studied in strong topological insulators, as well as the recently highlighted altermagnetic effect. We reveal that the interplay between magnetism and weak topological insulators leads to a variety of Hall effects in the absence of an external magnetic field, including the metallic quantum anomalous Hall effect without chiral edge states, the quantum anomalous Hall effect with a higher Hall conductance plateau, the quantized layer Hall effect, the metallic half-quantized valley-like Hall effect, and a quantized valley-like Hall effect. This work provides valuable insights for exploring magnetic effect on weak topological insulators.

Real-time dynamic path planning in complex traffic environments presents challenges, such as varying traffic volumes and signal wait times. Traditional static routing algorithms like Dijkstra and A* compute shortest paths but often fail under dynamic conditions. Recent Reinforcement Learning (RL) approaches offer improvements but tend to focus on local optima, risking dead-ends or boundary issues. This paper proposes a novel approach based on causal inference for real-time dynamic path planning, balancing global and local optimality. We first use the static Dijkstra algorithm to compute a globally optimal baseline path. A distributed control strategy then guides vehicles along this path. At intersections, DynamicRouteGPT performs real-time decision-making for local path selection, considering real-time traffic, driving preferences, and unexpected events. DynamicRouteGPT integrates Markov chains, Bayesian inference, and large-scale pretrained language models like Llama3 8B to provide an efficient path planning solution. It dynamically adjusts to traffic scenarios and driver preferences and requires no pre-training, offering broad applicability across road networks. A key innovation is the construction of causal graphs for counterfactual reasoning, optimizing path decisions. Experimental results show that our method achieves state-of-the-art performance in real-time dynamic path planning for multiple vehicles while providing explainable path selections, offering a novel and efficient solution for complex traffic environments., Comment: This paper is 12 pages long and represents the initial draft, version 1

Reconfigurable intelligent surface (RIS) technology has emerged in recent years as a promising solution to the ever-increasing demand for wireless communication capacity. In practice, however, elements of RIS may suffer from phase deviations, which need to be properly estimated and calibrated. This paper models the problem of over-the-air (OTA) estimation of the RIS elements as a quasi-neural network (QNN) so that the phase estimates can be obtained using the classic backpropagation (BP) algorithm. We also derive the Cram\'{e}r Rao Bounds (CRBs) for the phases of the RIS elements as a benchmark of the proposed approach. The simulation results verify the effectiveness of the proposed algorithm by showing that the root mean square errors (RMSEs) of the phase estimates are close to the CRBs., Comment: 5 pages, 5 figures, accepted by IEEE/CIC ICCC 2024

In this work, we study the constraining power of future lepton colliders on fragmentation functions (FFs) to light charged hadrons from quarks and gluon in the framework of QCD collinear factorization. We perform analyses of FFs by including a wide range of pseudo--data from future lepton colliders, such as measurements on hadron multiplicities in the inclusive production of two jets and $W$ boson pairs, at various center of mass energies, and from hadronic decays of the Higgs boson, including both to heavy quarks and to gluons. The high luminosity and high energies of future lepton colliders allow for quark flavor separations and ensure a precise determination of FFs based solely on data from electron-positron collisions. We find that either CEPC, FCC-$ee$ or ILC can significantly reduce the uncertainties of FFs in a wide kinematic range, compared to the NPC23 set obtained with a global analyses to current world data. We also discuss the impact of higher-order QCD corrections, and the potential constraints from measurements of three-jet production. Furthermore, we describe an update of the FMNLO program allowing for calculating hadron production cross sections at next-to-next-to-leading order in QCD, which is used in this study., Comment: 30 pages, 9 figures, 2 tables. Code is available at https://fmnlo.sjtu.edu.cn/~fmnlo/

Higher-order topological insulators harbor unique corner modes that hold immense potential for applications in information storage. However, the practical manipulation of these states has been constrained by the fixed positions and energies of conventional corner modes. In this work, we present a theoretical framework for generating topologically protected corner-like modes in higher-order topological insulators, exhibiting unprecedented tunability in their positions. These corner-like modes are characterized by a quantized generalized quadrupole moment, indicative of the presence of fractional charges. Moreover, we demonstrate the remarkable ability to modulate the energy of these topological corner modes. Our findings pave the way for the controlled manipulation of corner modes in higher-order topological insulators, opening up new avenues for their applications in advanced information technologies.

Graph Neural Networks(GNNs) are vulnerable to adversarial attack that cause performance degradation by adding small perturbations to the graph. Gradient-based attacks are one of the most commonly used methods and have achieved good performance in many attack scenarios. However, current gradient attacks face the problems of easy to fall into local optima and poor attack invisibility. Specifically, most gradient attacks use greedy strategies to generate perturbations, which tend to fall into local optima leading to underperformance of the attack. In addition, many attacks only consider the effectiveness of the attack and ignore the invisibility of the attack, making the attacks easily exposed leading to failure. To address the above problems, this paper proposes an attack on GNNs, called AGSOA, which consists of an average gradient calculation and a structre optimization module. In the average gradient calculation module, we compute the average of the gradient information over all moments to guide the attack to generate perturbed edges, which stabilizes the direction of the attack update and gets rid of undesirable local maxima. In the structure optimization module, we calculate the similarity and homogeneity of the target node's with other nodes to adjust the graph structure so as to improve the invisibility and transferability of the attack. Extensive experiments on three commonly used datasets show that AGSOA improves the misclassification rate by 2$\%$-8$\%$ compared to other state-of-the-art models.

In the realm of autonomous driving, robust perception under out-of-distribution conditions is paramount for the safe deployment of vehicles. Challenges such as adverse weather, sensor malfunctions, and environmental unpredictability can severely impact the performance of autonomous systems. The 2024 RoboDrive Challenge was crafted to propel the development of driving perception technologies that can withstand and adapt to these real-world variabilities. Focusing on four pivotal tasks -- BEV detection, map segmentation, semantic occupancy prediction, and multi-view depth estimation -- the competition laid down a gauntlet to innovate and enhance system resilience against typical and atypical disturbances. This year's challenge consisted of five distinct tracks and attracted 140 registered teams from 93 institutes across 11 countries, resulting in nearly one thousand submissions evaluated through our servers. The competition culminated in 15 top-performing solutions, which introduced a range of innovative approaches including advanced data augmentation, multi-sensor fusion, self-supervised learning for error correction, and new algorithmic strategies to enhance sensor robustness. These contributions significantly advanced the state of the art, particularly in handling sensor inconsistencies and environmental variability. Participants, through collaborative efforts, pushed the boundaries of current technologies, showcasing their potential in real-world scenarios. Extensive evaluations and analyses provided insights into the effectiveness of these solutions, highlighting key trends and successful strategies for improving the resilience of driving perception systems. This challenge has set a new benchmark in the field, providing a rich repository of techniques expected to guide future research in this field., Comment: ICRA 2024; 32 pages, 24 figures, 5 tables; Code at https://robodrive-24.github.io/

Infrared pulse thermography non-destructive testing (NDT) method is developed based on the difference in the infrared radiation intensity emitted by defective and non-defective areas of an object. However, when the radiation intensity of the defective target is similar to that of the non-defective area of the object, the detection results are poor. To address this issue, this study investigated the polarization characteristics of the infrared radiation of different materials. Simulation results showed that the degree of infrared polarization of the object surface changed regularly with changes in thermal environment radiation. An infrared polarization imaging-based NDT method was proposed and demonstrated using specimens with four different simulated defective areas, which were designed and fabricated using four different materials. The experimental results were consistent with the simulation results, thereby proving the effectiveness of the proposed method. Compared with the infrared-radiation-intensity-based NDT method, the proposed method improved the image detail presentation and detection accuracy.

Recently, the structural disorder-induced topological phase transitions in periodic systems have attracted much attention. However, in aperiodic systems such as quasicrystalline systems, the interplay between structural disorder and band topology is still unclear. In this work, we investigate the effects of structural disorder on a quantum spin Hall insulator phase and a higher-order topological phase in a two-dimensional Amman-Beenker tiling quasicrystalline lattice, respectively. We demonstrate that the structural disorder can induce a topological phase transition from a quasicrystalline normal insulator phase to an amorphous quantum spin Hall insulator phase, which is confirmed by bulk gap closing and reopening, robust edge states, quantized spin Bott index and conductance. Furthermore, the structural disorder-induced higher-order topological phase transition from a quasicrystalline normal insulator phase to an amorphous higher-order topological phase characterized by quantized quadrupole moment and topological corner states is also found. More strikingly, the disorder-induced higher-order topological insulator with eight corner states represents a distinctive topological state that eludes realization in conventional crystalline systems. Our work extends the study of the interplay between disorder effects and topologies to quasicrystalline and amorphous systems., Comment: 9 pages,7 figures. arXiv admin note: text overlap with arXiv:2108.04971

In this paper, we establish the interior $C^{1,\alpha}$ regularity of minimizers of a class of functionals with a convexity constraint, which includes the principal-agent problems studied by Figalli-Kim-McCann (\textit{J. Econom. Theory} \textbf{146} (2011), no. 2, 454-478). The $C^{1,1}$ regularity was previously proved by Caffarelli-Lions in an unpublished note when the cost is quadratic, and recently extended to the case where the cost is uniformly convex with respect to a general preference function by McCann-Rankin-Zhang(\textit{arXiv:2303.04937v3}). Our main result does not require the uniform convexity assumption on the cost function. In particular, we show that the solutions to the principal-agent problems with $q$-power cost are $C^{1,\frac{1}{q-1}}$ when $q > 2$ and $C^{1,1}$ when $1

Bimodal objects, such as the checkerboard pattern used in camera calibration, markers for object tracking, and text on road signs, to name a few, are prevalent in our daily lives and serve as a visual form to embed information that can be easily recognized by vision systems. While binarization from intensity images is crucial for extracting the embedded information in the bimodal objects, few previous works consider the task of binarization of blurry images due to the relative motion between the vision sensor and the environment. The blurry images can result in a loss in the binarization quality and thus degrade the downstream applications where the vision system is in motion. Recently, neuromorphic cameras offer new capabilities for alleviating motion blur, but it is non-trivial to first deblur and then binarize the images in a real-time manner. In this work, we propose an event-based binary reconstruction method that leverages the prior knowledge of the bimodal target's properties to perform inference independently in both event space and image space and merge the results from both domains to generate a sharp binary image. We also develop an efficient integration method to propagate this binary image to high frame rate binary video. Finally, we develop a novel method to naturally fuse events and images for unsupervised threshold identification. The proposed method is evaluated in publicly available and our collected data sequence, and shows the proposed method can outperform the SOTA methods to generate high frame rate binary video in real-time on CPU-only devices., Comment: NA

In recent years, Floquet engineering has attracted considerable attention as a promising approach for tuning topological phase transitions. In this work, we investigate the effects of high-frequency time-periodic driving in a four-dimensional (4D) topological insulator, focusing on topological phase transitions at the off-resonant quasienergy gap. The 4D topological insulator hosts gapless three-dimensional boundary states characterized by the second Chern number $C_{2}$. We demonstrate that the second Chern number of 4D topological insulators can be modulated by tuning the amplitude of time-periodic driving. This includes transitions from a topological phase with $C_{2}=\pm3$ to another topological phase with $C_{2}=\pm1$, or to a topological phase with an even second Chern number $C_{2}=\pm2$ which is absent in the 4D static system. Finally, the approximation theory in the high-frequency limit further confirms the numerical conclusions., Comment: 11 pages, 9 figures. arXiv admin note: text overlap with arXiv:2312.16013

Floquet topological insulators have been widely investigated in lower-dimensional systems. However, Floquet topological insulators induced by time-periodic driving in higher-dimensional systems remain unexplored. In this work, we study the effects of time-periodic driving in a four-dimensional (4D) normal insulator, focusing on topological phase transitions at the resonant quasienergy gap. We consider two types of time-periodic driving, including a time-periodic onsite potential and a time-periodic vector potential. We reveal that both types of time-periodic driving can transform the 4D normal insulator into a 4D Floquet topological insulator characterized by an emergent second Chern number. Moreover, it is found that the topological phase of the 4D system can be modulated by tuning the strength and frequency of the time-periodic driving. Our work will be helpful for the future investigation of Floquet topological insulators in higher dimensions.

This paper presents a 3D Gaussian Inverse Rendering (GIR) method, employing 3D Gaussian representations to effectively factorize the scene into material properties, light, and geometry. The key contributions lie in three-fold. We compute the normal of each 3D Gaussian using the shortest eigenvector, with a directional masking scheme forcing accurate normal estimation without external supervision. We adopt an efficient voxel-based indirect illumination tracing scheme that stores direction-aware outgoing radiance in each 3D Gaussian to disentangle secondary illumination for approximating multi-bounce light transport. To further enhance the illumination disentanglement, we represent a high-resolution environmental map with a learnable low-resolution map and a lightweight, fully convolutional network. Our method achieves state-of-the-art performance in both relighting and novel view synthesis tasks among the recently proposed inverse rendering methods while achieving real-time rendering. This substantiates our proposed method's efficacy and broad applicability, highlighting its potential as an influential tool in various real-time interactive graphics applications such as material editing and relighting. The code will be released at https://github.com/guduxiaolang/GIR., Comment: technical report

Semi-supervised entity alignment (EA) is a practical and challenging task because of the lack of adequate labeled mappings as training data. Most works address this problem by generating pseudo mappings for unlabeled entities. However, they either suffer from the erroneous (noisy) pseudo mappings or largely ignore the uncertainty of pseudo mappings. In this paper, we propose a novel semi-supervised EA method, termed as MixTEA, which guides the model learning with an end-to-end mixture teaching of manually labeled mappings and probabilistic pseudo mappings. We firstly train a student model using few labeled mappings as standard. More importantly, in pseudo mapping learning, we propose a bi-directional voting (BDV) strategy that fuses the alignment decisions in different directions to estimate the uncertainty via the joint matching confidence score. Meanwhile, we also design a matching diversity-based rectification (MDR) module to adjust the pseudo mapping learning, thus reducing the negative influence of noisy mappings. Extensive results on benchmark datasets as well as further analyses demonstrate the superiority and the effectiveness of our proposed method., Comment: Findings of EMNLP 2023; 11 pages, 4 figures; code see https://github.com/Xiefeng69/MixTEA

Although the origin of the fat-tail characteristic of the degree distribution in complex networks has been extensively researched, the underlying cause of the degree distribution characteristic across the complete range of degrees remains obscure. Here, we propose an evolution model that incorporates only two factors: the node's weight, reflecting its innate attractiveness (nature), and the node's degree, reflecting the external influences (nurture). The proposed model provides a good fit for degree distributions and degree ratio distributions of numerous real-world networks and reproduces their evolution processes. Our results indicate that the nurture factor plays a dominant role in the evolution of social networks. In contrast, the nature factor plays a dominant role in the evolution of non-social networks, suggesting that whether nodes are people determines the dominant factor influencing the evolution of real-world networks., Comment: 8pages, 4 figures

The integration of individual microgrids (MGs) into Microgrid Clusters (MGCs) significantly improves the reliability and flexibility of energy supply, through resource sharing and ensuring backup during outages. The dispatch of MGCs is the key challenge to be tackled to ensure their secure and economic operation. Currently, there is a lack of optimization method that can achieve a trade-off among top-priority requirements of MGCs' dispatch, including fast computation speed, optimality, multiple objectives, and risk mitigation against uncertainty. In this paper, a novel Multi-Objective, Risk-Sensitive, and Online Trust Region Policy Optimization (RS-TRPO) Algorithm is proposed to tackle this problem. First, a dispatch paradigm for autonomous MGs in the MGC is proposed, enabling them sequentially implement their self-dispatch to mitigate potential conflicts. This dispatch paradigm is then formulated as a Markov Game model, which is finally solved by the RS-TRPO algorithm. This online algorithm enables MGs to spontaneously search for the Pareto Frontier considering multiple objectives and risk mitigation. The outstanding computational performance of this algorithm is demonstrated in comparison with mathematical programming methods and heuristic algorithms in a modified IEEE 30-Bus Test System integrated with four autonomous MGs.

Complex networks across various fields are often considered to be scale free -- a statistical property usually solely characterized by a power-law distribution of the nodes' degree $k$. However, this characterization is incomplete. In real-world networks, the distribution of the degree-degree distance $\eta$, a simple link-based metric of network connectivity similar to $k$, appears to exhibit a stronger power-law distribution than $k$. While offering an alternative characterization of scale-freeness, the discovery of $\eta$ raises a fundamental question: do the power laws of $k$ and $\eta$ represent the same scale-freeness? To address this question, here we investigate the exact asymptotic {relationship} between the distributions of $k$ and $\eta$, proving that every network with a power-law distribution of $k$ also has a power-law distribution of $\eta$, but \emph{not} vice versa. This prompts us to introduce two network models as counterexamples that have a power-law distribution of $\eta$ but not $k$, constructed using the preferential attachment and fitness mechanisms, respectively. Both models show promising accuracy by fitting only one model parameter each when modeling real-world networks. Our findings suggest that $\eta$ is a more suitable indicator of scale-freeness and can provide a deeper understanding of the universality and underlying mechanisms of scale-free networks.

In this paper, we use the Hertz vector potential to define the electromagnetic vector of different structured wavefields, and analyze the spin properties of the wavefields. We show that for the single evanescent waves, the total spin provides by the transverse spin and originates from the spatial inhomogeneity of the momentum density of the field. However, for non-single evanescent wave, there may be a part of the extraordinary spin component sE, and the direction of sE is also perpendicular to the wave propagation direction. In other words, it is transverse, but it does not originate from the curl of the wave field momentum density. In addition, we also calculate the spins of non-planar propagating waves, and analyze the spin characteristics of these wave fields.

Tidal flat topography provides crucial insights for understanding tidal flats and their dynamic evolution. However, the wide-ranging and rapidly changing nature of tidal flats, which are periodically submerged in shallow water, pose challenges for many current monitoring methods in terms of both efficiency and precision. In this study, we considered the dynamic process of tidal flat submergence and utilized time-series Sentinel-2 images on Google Earth Engine (GEE) to calculate the tidal flat exposure frequency. This information was used to determine the spatial extent of the tidal flats, and subsequently, by employing ICESat-2 data, we established a 1D-linear regression model based on elevation and frequency values, which realizes the inversion of the tidal flat elevation within Cixi City. The study shows the following: (1) the tidal flat exposure frequency and ICESat-2 elevation data exhibit a strong positive correlation (R2=0.85); (2) the tidal flat area within Cixi City is 115.81 km2, and the overall accuracy is 95.36%; and (3) the elevation range of the tidal flats in the study area is between -0.42 and 2.73 m, and the mean absolute error (MAE) is 0.24 m. Additionally, we consider that the temporal resolution of remote sensing imagery plays a crucial role in determining the accuracy of the elevation inversion, and we found that higher tidal flats exhibit better inversion accuracy than lower tidal flats.

The quantum battery (QB) makes use of quantum effects to store and supply energy, which may outperform its classical counterpart. However, there are two challenges in this field. One is that the environment-induced decoherence causes the energy loss and aging of the QB, the other is that the decreasing of the charger-QB coupling strength with increasing their distance makes the charging of the QB become inefficient. Here, we propose a QB scheme to realize a remote charging via coupling the QB and the charger to a rectangular hollow metal waveguide. It is found that an ideal charging is realized as long as two bound states are formed in the energy spectrum of the total system consisting of the QB, the charger, and the electromagnetic environment in the waveguide. Using the constructive role of the decoherence, our QB is immune to the aging. Additionally, without resorting to the direct charger-QB interaction, our scheme works in a way of long-range and wireless-like charging. Effectively overcoming the two challenges, our result supplies an insightful guideline to the practical realization of the QB by reservoir engineering.

Detecting leaks in water networks is a costly challenge. This article introduces a practical solution: the integration of optical network with water networks for efficient leak detection. Our approach uses a fiber-optic cable to measure vibrations, enabling accurate leak identification and localization by an intelligent algorithm. We also propose a method to access leak severity for prioritized repairs. Our solution detects even small leaks with flow rates as low as 0.027 L/s. It offers a cost-effective way to improve leak detection, enhance water management, and increase operational efficiency., Comment: Accepted

Let $u$ be a smooth, strictly $k$-plurisubharmonic function on a bounded domain $\Omega\in\mathbb C^n$ with $2\leq k\leq n$. The purpose of this paper is to study the regularity of solution to the linearized complex Monge-Amp\`ere and Hessian equations when the complex $k$-Hessian $H_k[u]$ of $u$ is bounded from above and below. We first establish some estimates of Green's functions associated to the linearized equations. Then we prove a class of new Sobolev inequalities. With these inequalities, we use Moser's iteration to investigate the a priori estimates of Hessian equations and their linearized equations, as well as the K\"ahler scalar curvature equation. In particular, we obtain the Harnack inequality for the linearized complex Monge-Amp\`ere and Hessian equations under an extra integrability condition on the coefficients. The approach works in both real and complex case., Comment: Some minors are corrected. A remark is rewritten with new references

Three-dimensional higher-order topological semimetals in crystalline systems exhibit higher-order Fermi arcs on one-dimensional hinges, challenging the conventional bulk-boundary correspondence. However, the existence of higher-order Fermi arc states in aperiodic quasicrystalline systems remains uncertain. In this work, we present the emergence of three-dimensional quasicrystalline second-order topological semimetal phases by vertically stacking two-dimensional quasicrystalline second-order topological insulators. These quasicrystalline topological semimetal phases are protected by rotational symmetries forbidden in crystals, and are characterized by topological hinge Fermi arcs connecting fourfold degenerate Dirac-like points in the spectrum. Our findings reveal an intriguing class of higher-order topological phases in quasicrystalline systems, shedding light on their unique properties.