We study Majorana zero modes properties in cylindrical cross-section semiconductor quantum wires based on the $k cdot p$ theory and a discretized lattice model. Within this model, the influence of disorder potentials in the wire and amplitude and phase fluctuations of the superconducting order-parameter are discussed. We find that for typical wire geometries, pairing potentials, and spin-orbit coupling strengths, coupling between quasi-one-dimensional sub-bands is weak, low-energy quasiparticles near the Fermi energy are nearly completely spin-polarized, and the number of electrons in the active sub-bands of topological states is small.
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