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Synchronization of robot Manipulators Actuated By Induction Motors with Velocity Estimator

Computer Modeling in Engineering & Sciences 2019年第11期121卷 609-630页

作者： Felipe J.Torres Gerardo V.Guerrero Carlos D.García ricardo Zavala-Yoe Mario A.García adolfo r.lópez University of Guanajuato Division of Engineering Campus Irapuato-SalamancaCarretera Salamanca-Valle de Santiago km 3.5+1.8GuanajuatoSalamanca36885México National Technological of Mexico/National Center of research and Technological Development Av.Palmira S/N colonia PalmiraMorelosCuernavaca62490México School of Engineering and Sciences Monterrey TechnologicalPuente 222 Ejidos de HuipulcoCiudad de México14380México Superior Technological Institute of Irapuato Carretera Irapuato-Silao km 12.5GuanajuatoIrapuato36821México

A complete modeling(including the actuator dynamics)of a robot manipulator that uses three-phase induction motors is presented in this paper.A contr.l scheme is designed to synchronize robot manipulators actuated by induction motors under a master.lave scheme in the case where the joint velocity of the slave robots is *** of the research on the synchronization of robot manipulators assumes the use of ideal actuators to drive the joints;for that reason,in this work,a three-phase induction motor is considered to be a direct-drive actuator for each *** entire model of the mated system is obtained by a combination of the dynamics of the induction motor and robot ***,the synchronization contr.l algorithm for a master-slave scheme in both the joint space and workspace of robot manipulators driven by induction motors is *** observer based on the entire model is proposed to estimate the joint velocity of the slave robot *** the lyapunov criterion,a stability analysis of the synchronization contr.l with a velocity estimator is *** analytical results show the synchronization and estimation errors are globally,unifor.ly,and ultimately *** with multiple robots demonstrate the performance of the proposed contr.l algorithm.

关键词： Synchronization robot manipulator induction motor lyapunov stability observer based on the model

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HVSr analysis of pumice sands for sediment depth characterization:A case study for Guadalajara,Mexico

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Earthquake Engineering and Engineering Vibration 2024年第3期23卷 577-591页

作者： Hafid Salgado M. Alejandro ramírez-Gaytan adolfo Preciado Christian r.Escudero Departamento de Ciencias Exactas Centro Universitario de la CostaUniversidad de GuadalajaraCP.48280 Puerto VallartaJaliscoMéxico Departamento de Ciencias Computacionales Centro Universitario de Ciencias Exactas e IngenieríaUniversidad de GuadalajaraCP.44430 GuadalajaraJaliscoMéxico Departamento del Hábitat y Desarr.llo Urbano Instituto Tecnológico y de Estudios Superiores de Occidente(ITESO)CP.45604 TlaquepaqueMéxico

The horizontal to vertical spectr.l ratio(HVSr)methodology is used here to characterize pumice soils and to image the three-dimensional surface geometry of Guadalajara,*** to other.latin American cities,Guadalajara is exposed to high seismic risk,with the particularity of being the largest urban settlement in latin America built on pumice *** has not yet been tested to characterize subsoil depths in pumice *** to the questionable use of traditional geotechnical tests for the analysis of pumice soils,HVSr provides an alternative for its characterization without altering its fragile and porous *** this work,resonance frequency(F0)and peak amplitude(A0)are used to constrain the depth of the major impedance contrast that represents the interface between bedrock and pumice *** were compared with borehole depths and other available geotechnical and geophysical data and show good *** of the profiles estimated on the riverbanks that cross the city,reveals different subsoil thickness that could have an impact on different site responses on riverine areas to an eventual *** and academic efforts are combined in this work to characterize depth sediments,an important parameter that impacts the regulations for construction in the city.

关键词： subsoil of Guadalajara shallow soil thickness bedrock depth pumice soil characterization

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A novel approach to the dynamic response analysis of Euler-Bernoulli beams resting on a Winkler soil model and subjected to impact loads

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Earthquake Engineering and Engineering Vibration 2024年第2期23卷 389-401页

作者： adolfo Foriero Filippo Santucci de Magistris Giovanni Fabbrocino Département de génie civil et de génie des eaux Pavillon Adrien-PouliotUniversitéLavalQuébecCanada Dipartimento di Bioscienze e Territorio Universitàdegli Studi del MoliseCampobassoItaly Construction Technologies Institute National Research CouncilITC-CNRL’AquilaItaly

This work presents a novel approach to the dynamic response analysis of a Euler-Bernoulli beam resting on a Winkler soil model and subjected to an impact *** approach considers that damping has much less importance in contr.lling the maximum response to impulsive loadings because the maximum response is reached in a very short time,before the damping forces can dissipate a significant portion of the energy input into the *** development of two sine series solutions,r.lating to different types of impulsive loadings,one involving a single concentrated force and the other a distributed line load,are *** study revealed that when a simply supported Euler-Bernoulli beam,resting on a Winkler soil model,is subject to an impact load,the resulting vertical displacements,bending moments and shear forces produced along the span of the beam are considerably *** particular,the quantification of this effect is best observed,r.lative to the corresponding static solution,via an amplification *** computed impact amplification factors,for the sub-grade moduli used in this study,were in magnitude greater than 2,thus confirming the multiple-degree-of-freedom nature of the problem.

关键词： beam-Winkler-soil model sub-grade moduli impact load impact distributed line load dynamic solution impact amplification factor

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Impacts of brood parasitism by shiny cowbird Molothrus bonariensis on the breeding success of a small host, the black-backed water tyrant Fluvicola albiventer

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Current Zoology 2024年第4期70卷 539-547页

作者： lorena Vanesa Sovrano Evelina Jesica leon rodrigo Ezequiel lorenzón Pamela Fernanda Olguin adolfo Héctor Beltzer Alejandro raúl Giraudo laboratorio de Biodiversidad y Conservacion de Tetrapodos Instituto Nacional de Limnologia(INALICONICET-UNL)Paraje El Pozo s/nSanta Fe(3000)Argentina Departamento de Biologia Universidad Autonoma de Entre RiosKm 10.5 RP 11Oro Verde(3100)Entre RiosArgentina Departamento de Biologia Universidad Nacional del LitoralFacultad de Humanidades y CienciasParaje Ei Pozo s/nSanta Fe(3000)Argentina

The shiny cowbird Molothrus bonariensis parasitizes many species with different life-history traits and has a detrimental effect on the survival of the progeny of the *** response,hosts have developed numerous antiparasitic ***,we examined the effects of brood parasitism by shiny cowbird on the clutch and brood sizes(83 nests)in a small host,the black-backed water tyrant Fluvicola *** also studied whether the death of parasite nestlings was r.lated to the care of the foster parents and whether the host had any antiparasitic defense against the shiny *** results indicate that brood parasitism significantly decreased the host hatching and fledging *** majority of nest failures(57%)were caused by brood *** cowbird parasitism occurred in 52%of nests and the intensity of parasitism was 1.23±0.53 eggs per parasitized *** the total host eggs,54%were *** the incubation stage,20 nests(47%)were abandoned because of egg punctures by shiny cowbirds *** two parasitic fledglings were recorded,while the remaining nestlings either died from starvation(n=12)or predation(n=3).Foster parents abandoned parasitic nestlings between 5 and 10 days *** findings demonstrate that the shiny cowbird has very low rates of fledging success when parasitizing black-backed water ***,parasitism had a high reproductive cost in the black-backed water tyrant because a very low proportion(7%)of the parasitized nests(n=43)were successful.

关键词： brood parasitism host defenses nest desertion shiny cowbird small host.

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Endoscopic treatment of scarred polyps with a non-thermal device(Endorotor):A review of the literature

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World Journal of Gastroenter.logy 2024年第12期30卷 1706-1713页

作者： Mariam Zaghloul Hameed rehman Stefano Sansone Konstantinos Argyriou adolfo Parra-Blanco Department of Hepatology Gastroenterology and Infectious DiseasesKafrelsheikh UniversitKafr-Elshikh 33516Egypt Department of Gastroenter.logy Service Nottingham City Hospital CampusNottingham University Hospitals NHS TrustNottingham NG51PBUnited Kingdom Department of Gastroenter.logy University Hospital of LarissaLarissa 41334Greece NIHr Nottingham Biomedical research Centre Nottingham University Hospitals NHS Trust and University of NottinghamNottingham NG72UHUnited Kingdom

Endoscopic resection(Er)of colorectal polyps has become a daily practice in most endoscopic units providing a colorectal cancer screening program and requires the availability of local experts and high-end endoscopic *** procedures have evolved over the past few years from endoscopic mucosal resection(EMr)to more advanced techniques,such as endoscopic submucosal dissection and endo-scopic full-thickness *** resection and disease eradication are the ultimate goals of Er-based techniques,and novel devices have been developed to achieve these *** Endorotor®Endoscopic Powered resection System(Interscope Medical,Inc.,Northbridge,Massachusetts,United States)is one such *** Endorotor is a powered resection tool for the removal of alimentary tract mucosa,including post-EMr persistent lesions with scarring,and has both CE Mark and FDA *** review covers available published evidence documenting the usefulness of Endorotor for the management of recurrent colorectal polyps.

关键词： Endorotor Scarred polyps recurrent polyps Colorectal cancer Colorectal polyps

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Changes in call properties of Boana pulchella (Anura, Hylidae) in response to different noise conditions

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Current Zoology 2024年第4期70卷 548-556页

作者： Pablo Grenat Maria Ferrero Mariana Baraquet Favio Pollo Manuel Otero Zulma Salinas Nancy Salas adolfo Martino Ecologia Departamento de Ciencias NaturalesFacultad de Ciencias ExactasFisico-Quimicas y NaturalesUniversidad Nacional de Rio CuartoRutaNacional N°36-km601X5804BYARioCuartoArgentina lnstituto de Ciencias de la Tierra Biodiversidad y Ambiente(ICBIA)UNRC-CONICETRuta Nacional N°36-km 601X5804BYARio CuartoArgentina Cátedra de Botanica Gener.l Departamento de Recursos Naturales y AmbienteFacultad de AgronomiaUniversidad de Buenos AiresAv.San Martin 4453Buenos AiresArgentina

The increasing expansion of urban areas leads to the emergence of new noisy environments that can affect animal *** play a crucial r.le in the mating displays of anurans,and the negative impact of anthropogenic noise-induced auditory masking has been reported in sever.l *** investigated the acoustic variation in 96 males(n=971 calls)of the treefrog Boana pulchella across acoustically undis-turbed sites and different noise conditions,associated with urban areas(UrBAN)and roads(rOAD),in Centr.l *** analyzed the effect of anthropogenic noise conditions on 6 tempor.l(call duration[CD],intercall interval,first and second note duration,internote interval,and call rate)and 3 spectr.l(dominant frequency of first and second note,frequency difference between them)call *** effects of temperature and size on acoustical variables were *** observed differences in all call attributes among the noise conditions,except for intercall *** exposed to UrBAN and rOAD exhibited significant changes in CD,dominant frequency of the second note,and fre-quency difference between *** males had longest internote interval,while rOAD individuals displayed increased first and second note duration and call ***,rOAD males exhibited immediate changes in call rate in direct response to passing heavy *** study emphasizes the impact of anthropogenic noise on the acoustic characteristics of *** *** how animals adapt to noisy environments is crucial in mitigating the adverse effects of urbanization on their communication *** investigations should explore whether the observed call adjustments are effective in avoiding or mitigating the negative consequences of anthropogenic noise on reproductive success.

关键词： acoustic communication advertisement call auditory masking noise pollution road traffic noise.

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Highly divergent sympatric lineages of leptotila verreauxi(Aves:Columbidae)suggest a secondary contact area in the Isthmus of Tehuantepec,Mexico

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Avian research 2024年第1期15卷 12-21页

作者： Orlando J.Espinosa-Chávez adolfo G.Navarro-Sigüenza Hernando rodríguez-Correa luis A.Sánchez-González Museo de Zoología“Alfonso l.Herrera” Depto.de Biología EvolutivaFacultad de CienciasUniversidad Nacional Autonoma de MexicoApdo.Postal 70-399CP 04510Ciudad de MexicoMexico Posgrado en Ciencias Biologicas Unidad de PosgradoEdificio D1◦PisoCircuito de PosgradosCiudad UniversitariaUniversidad Nacional Autonoma de MexicoCoyoacanCP 04510CDMXMexico Escuela Nacional de Estudios Superiores Unidad Mor.lia Universidad Nacional Autonoma de Mexico.Antigua Carretera a Patzcuaro No.8701 Col.Ex Hacienda de San Jose de la HuertaC.P.58190MoreliaMichoacanMexico

Due to a complex geological and biotic history,the Isthmus of Tehuantepec(IT),has been long recognized as a driver for the evolutionary divergence of numerous lowland and highland *** distributed in the lowlands of the American continent,the White-Tipped Dove(leptotila verreauxi)is a polytypic species with 13 recognized *** of these have been recorded in Mexico,and the distribution of three abuts at the IT,suggesting a contact *** estimate phylogenetic patterns,divergence times and genetic differentiation,we examined two mt DNA(ND2 and COI)and one n DNA(β-fibint 7)*** also used corr.lative ecological niche models(ENM)to assess whether ecological differences across the IT may have acted as a biogeographical *** estimated paleodistributions during the Middle Holocene,last Glacial Maximum and last Inter.lacial,to evaluate the influence of climate changes on the distribution and demographic *** results showed genetically distinct lineages that diverged approximately 2.5 million years *** and ecological factors may have played a dual r.le in promoting differentiation,but also in the formation of a secondary contact zone in the southern *** ecological niche comparisons indicated that the ecological niche of sympatric lineages at the IT are not identical,suggesting niches divergence;in addition,environmental niche models across the region indicated no abrupt biogeographic barriers,but the presence of regions with low *** results suggest that genetic differentiation originated by a vicariant event probably r.lated to environmental factors,favored the evolution of different ecological ***,the absence of a biogeographic barrier but the presence of less suitable areas in the contact regions,suggest that secondary contact zones may be also maintained by climatic factors for the eastern group,but also by biotic interactions for the western group.

关键词： Biogeographical boundary Humid and dry forests Isthmus of Tehuantepec Phylogeography Secondary contact

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Vanadium miner.lization at los Chihuidos sediment-hosted Cu-V deposit,Neuquén Basin,Argentina:An approach to vanadium ore forming processes

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Geoscience Frontiers 2024年第1期15卷 225-246页

作者： Ana l.rainoldi Daniel Beaufort Marta B.Franchini adolfo Giusiano Sabine Petit Patricia Patrier M.Josefina Pons Dpto.de Geología Universidad Nacional del Sur(UNS)8000 Bahía BlancaArgentina Consejo Nacional de Investigaciones Científicas y Técnicas Centro Patagónico de Estudios MetalogenéticosArgentina Universitéde Poitiers IC2MPCNRS-UMR 7285HydrasaF-86022 Poitiers CedexFrance Universidad Nacional del Comahue Facultad de IngenieríaDepartamento de Geología y Petróleo8300 NeuquénArgentina Consultant Geologist 8300 NeuquénArgentina Universidad Nacional de río Negro Instituto de Investigación en Paleobiología y GeologíaRío NegroArgentina

Vanadium miner.lization at los Chihuidos deposit of the Neuquén Basin is linked to the development of a redox front system r.lated to the inflow of hydrocarbons into the red sandstone of the Huincul *** of hydrocarbons with oxidized red beds and connate water generated redox reactions where hematite was dissolved due to iron reduction resulting in the discoloration of the red *** the contact between oxidized red sandstone and reduced white sandstone,precipitation of specific miner.l phases resulted in the V ore with minor amounts of *** the implementation of the redox interface,abundant V-montmor.llonite and V-hematite precipitated at the more oxidizing conditions and Cu-V-corrensite-type at the more reducing conditions of the redox *** the redox front advanced with fluids constantly migrating into the reservoir,more reducing conditions were stablished,promoting chloritization and minor illitization with V-Cu incorporation and continuous upgrading of the *** ore miner.logy consists of clay miner.ls including V-bearing montmor.llonite,Cu-V-corrensite-type,V-di-trioctahedr.l chlorite and Cu-tri-trioctahedr.l chlorite with minor V-illite-smectite mixed-layer miner.ls and associated secondary *** over illitization was favored due to high amounts of Fe and Mg in detrital clasts and in connate fluids and by low K availability r.lated to low amounts of detrital *** spatial transition of V and/or Cu bearing clay miner.ls observed through the miner.lized redox front at los Chihuidos deposit(kaolinite→smectite→illite/smectite→corrensite-type→di-trioctahedr.l-chlorite→tri-trioctahedr.l-chlorite)and the r.lated variation of V-Cu concentrations in bulk rock are indicative of increasing pH and decreasing Eh of resident solutions from red to white sandstones during the hypogene miner.lization *** influx of Cu-rich oxidized basinal brines precipitated main copper ore with Cu-sulfides in the white sandst

关键词： Clay miner.ls V-chlorite redox front Bleaching Hydrocarbons

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Artemisia vulgaris Induces Tumor-Selective Ferroptosis and Necroptosis via lysosomal Ca^(2+) Signaling

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Chinese Journal of Integrative Medicine 2024年第6期30卷 525-533页

作者： lucas dos Santos Zamarioli Michele rosana Maia Santos adolfo Garcia Erustes Vanessa Marques Meccatti Thais Cristine Pereira Soraya S Smaili Maria Cristina Marcucci Carlos rocha Oliveira Gustavo JS Pereira Claudia Bincoletto Department of Pharmacology Paulista School of MedicineFederal University of São PauloSão PauloSP04044-020Brazil research Group on Phytocomplexes and Cell Signaling School of Health SciencesAnhembi Morumbi UniversitySão PauloSP03164-000Brazil Department of Biosciences and Or.l Diagnosis Institute of Science and TechnologySão Paulo State University(ICT-UNESP)São PauloSP12231-280Brazil

Objective To evaluate the chemical composition and effects of Artemisia vulgaris(AV)hydroalcoholic extract(HEAV)on breast cancer cells(MCF-7 and SKBr-3),chronic myeloid leukemia(K562)and NIH/3T3 *** Phytochemical analysis of HEAV was done by high-performance liquid chromatography-mass(HPlC)*** and cell death studies were performed using trypan blue and Annexin/FITC-7AAD,***-1(Fer-1)and necrostatin-1(Nec-1)were used to assess the mode of HEAV-induced cell death and acetoxymethylester(BAPTA-AM)was used to verify the involvement of cytosolic calcium in this *** calcium measurements were made using *** HEAV decreased the viability of MCF-7,SKBr-3 and K562 cells(Plity of HEAV-treated K562 cells was reduced compared to HEAV-exposed fibroblasts(Preatment of K562 cells with HEAV induced cell death primar.ly by late apoptosis and necrosis in assays using annexin V-FITC/7-AAD(Pr-1 increased the viability of K562 cells treated with HEAV r.lative to cells exposed to HEAV alone(Pr.lease mainly from lysosomes in K562 cells(Prthermore,BAPTA-AM,an intracellular Ca^(2+)chelator,decreased the number of non-viable cells treated with HEAV(Plusions HEAV is cytotoxic and activates sever.l modalities of cell death,which are partially dependent on lysosomal r.lease of Ca^(2+).These effects may be r.lated to artemisinin and caffeoylquinic acids,the main compounds identified in HEAV.

关键词： Artemisia vulgaris necroptosis ferroptosis late apoptosis Ca^(2+)signaling

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BaTiO3 solid solutions co-doped with Gd3+ and Eu3+:Synthesis,structur.l evolution and dielectric properties

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Journal of rare Earths 2024年第10期 1920-1926页

作者： r.Martínez-lópez M.Pérez-labra J.A.romero-Serrano F.r.Barrientos-Hernández M.reyes-Pérez M.I.Valenzuela-Carr.llo G.Urbano-reyes V.E.reyes-Cruz G.I.Dávila-Pulido Academic Area of Earth Sciences and Materials Autonomous University of Hidalgo State Metallurgy and Materials Department ESIQIE-IPNUPALM Autonomous University of Coahuila Boulevard Adolfo López Mateos S/n

In this paper,the synthesis,structur.l evolution,and dielectric properties of BaTiO3solid solutions codoped with rare earth elements(Gd3+and Eu3+) prepared using the solid-state reaction method are *** pure precursor powders of BaCl3,TiO2,Gd2O3,and Eu2O3were mixed in stoichiometric proportions,ground in an agate mortar before being uniaxially pressed at 250 MPa and sintered at 1300℃ in air atmosphere for 6 h to obtain Ba1-3xGd2xTi1-3xEu4xO3（x=0,0.0015,0.01 and0.1）.X-ray diffraction（XrD） and rietveld's refinement results reveal the crystal phase ferroelectric tetragonal BaTiO3for the samples with x=0,0.0015 and 0.01, as well as a consistent increment in the lattice parameters caused by the *** solubility limit of Gd3+and Eu3+in the BaTiO3structure is reached for the sample with x>0.01,and the orthorhombic Eu2TiO5and monoclinic BaTi2O5secondary phases were *** raman results show the characteristic peaks of ferroelectric tetragonal BaTiO3around 716 cm-1（lO of A1 symmetry）,515 cm-1（TO of A1 symmetry）,and 305 cm-1（B1）.The maximum r.lative permittivity measured at 1 kHz was recorded to be 6151.8 for the sample with x=0.0015,and a decrease in the Curie temperature to 105℃ with respect to the undoped sample was *** punctual microanalysis for the samples with x=0.0015,0.01,and 0.1 reveals grains composed of Ba,Ti,O,Gd,and Eu homogeneously distributed in the *** Ba/Ti ratios for samples with x=0.0015,0.01 and 0.1 are 2.86,2.91,and 0.68,respectively,indicating substitution at the Ti site for samples with x=0.0015 and 0.01 and a substitution at the Ba site for the sample with x=0.1.

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