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Kinematic analysis of flexible bipedal robotic systems

Applied Mathematics and Mechanics(English Edition) 2024年第5期45卷 795-818页

作者： R.FAZEL A.M.sHAFEI s.R.NEKOO Department of Mechanical Engineering Shahid Bahonar University of KermanKerman ***Iran Departamento de Ingenieria de sistemas y Automatica Escuela Técnica Superior de IngenieriaUniversidad de SevillaSeville 41092Spain

In spite of its intrinsic complexities,the passive gait of bipedal robots on a sloping ramp is a subject of interest for numerous *** distinguishes the present research from similar works is the consideration of flexibility in the constituent links of this type of robotic *** is not a far-fetched assumption because in the transient(impact)phase,due to the impulsive forces which are applied to the system,the likelihood of exciting the vibration modes increases ***,the human leg bones that are involved in walking are supported by viscoelastic muscles and ***,for achieving more exact results,it is essential to model the robot links with viscoelastic *** this end,the Gibbs-Appell formulation and Newton's kinematic impact law are used to derive the most general form of the system's dynamic equations in the swing and transient phases of *** most important issue in the passive walking motion of bipedal robots is the determination of the initial robot configuration with which the system could accomplish a periodic and stable gait solely under the effect of gravitational *** extremely unstable nature of the system studied in this paper and the vibrations caused by the impulsive forces induced by the impact of robot feet with the inclined surface are some of the very serious challenges encountered for achieving the above-mentioned *** overcome such challenges,an innovative method that uses a combination of the linearized equations of motion in the swing phase and the algebraic motion equations in the transition phase is presented in this paper to obtain an eigenvalue *** solving this problem,the suitable initial conditions that are necessary for the passive gait of this bipedal robot on a sloping surface are *** effects of the characteristic parameters of elastic links including the modulus of elasticity and the Kelvin-Voigt coefficient on the walking stability of this type of

关键词： bipedal robot flexible link swing phase transient phase eigenvalue problem Kelvin-Voigt coefficient

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Astrophysical s-factor and reaction rate for 15N(p,γ)16O within the modified potential cluster model

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Chinese Physics C 2024年第4期48卷 130-145页

作者： s.B.Dubovichenko A.s.Tkachenko R.Ya.Kezerashvili N.A.Burkova B.M.Yeleusheva Fesenkov Astrophysical Institute 050020 AlmatyKazakhstan New York City College of Technology City University of New YorkBrooklyn11201 New YorkUSA Graduate school and University Center City University of New York10016 New YorkUSA al-Farabi Kazakh National University 050040 AlmatyKazakhstan

We study radiative p^(15)N capture on the ground state of ^(16)O at stellar energies within the framework of a modified potential cluster model(MPCM)with forbidden states,including low-lying *** investigation of the ^(15)N(p,γ0)^(16)O reaction includes the consideration of ^(3)s_(1) resonances due to E1 transitions and the contribution of the ^(3)P_(1) scattering wave in the p+^(15)N channel due to the ^(3)P_(1)→^(3)P_(0)M1 *** calculated the astrophysical low-energy s-factor,and the extrapolated s(0)turned out to be within 34.7−40.4 keV·*** important role of the asymptotic constant(AC)for the ^(15)N(p,γ0)16O process with interfering ^(3)s_(1)(312)and ^(3)s_(1)(962)resonances is elucidated.A comparison of our calculation for the s-factor with existing experimental and theoretical data is addressed,and a reasonable agreement is *** reaction rate is calculated and compared with the existing *** has negligible dependence on the variation of AC but shows a strong impact of the interference of ^(3)s_(1)(312)and ^(3)s_(1)(962)resonances in reference to the CNO Gamow windows,especially at low *** estimate the contribution of cascade transitions to the reaction rate based on the exclusive experimental data from ***.C.85,065810(2012).The reaction rate enhancement due to the cascade transitions is observed from T_(9)>0.3 and reaches the maximum factor~1.3 at T_(9)=*** present the Gamow energy window and a comparison of rates for radiative proton capture reactions ^(12)N(p,γ)^(13)O,^(13)N(p,γ)^(14)O,^(14)N(p,γ)^(15)O,and ^(15)N(p,γ)^(16)O obtained in the framework of the MPCM and provide the temperature windows,prevalence,and significance of each process.

关键词： low and astrophysical energies p^(15)N system thermonuclear reaction rate potential cluster model CNO-cycle

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Dynamics of a rotating ring-stiffened sandwich conical shell with an auxetic honeycomb core

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Applied Mathematics and Mechanics(English Edition) 2024年第6期45卷 963-982页

作者： s.JAHANGIRI A.GHORBANPOUR ARANI Z.KHODDAMI MARAGHI Department of solid Mechanics Faculty of Mechanical EngineeringUniversity of KashanKashan ***Iran Faculty of Engineering Mahallat Institute of Higher EducationMahallat ***Iran

The free vibration analysis of a rotating sandwich conical shell with a reentrant auxetic honeycomb core and homogenous isotropic face layers reinforced with a ring support is *** shell is modeled utilizing the first-order shear deformation theory(FsDT)incorporating the relative,centripetal,and Coriolis accelerations alongside the initial hoop tension created by the *** governing equations,compatibility conditions,and boundary conditions are attained using Hamilton’s *** trigonometric functions,an analytical solution is derived in the circumferential direction,and a numerical one is presented in the meridional direction via the differential quadrature method(DQM).The effects of various factors on the critical rotational speeds and forward and backward frequencies of the shell are *** present work is the first theoretical work regarding the dynamic analysis of a rotating sandwich conical shell with an auxetic honeycomb core strengthened with a ring support.

关键词： free vibration conical shell rotating shell ring support auxetic honeycomb

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A review on transition metal oxides based photocatalysts for degradation of synthetic organic pollutants

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Journal of Environmental sciences 2024年第5期139卷 389-417页

作者： Athira Krishnan Anna swarnalal Divine Das Midhina Krishnan Viswanathan s.saji sMAshibli Department of Chemistry Amrita Vishwa VidyapeethamAmritapuriKerala690525India Interdisciplinary Research Center for Advanced Materials King Fahd University of Petroleum&MineralsDhahran31261Saudi Arabia Department of Chemistry University of KeralaKariavattom CampusThiruvananthapuramKerala695581India

This review provides insight into the current research trend in transition metal oxides(TMOs)-based photocatalysis in removing the organic colouring matters from *** easy understanding,the research progress has been presented in four generations according to the catalyst composition and mode of application,viz:single component TMOs(the firstgeneration),doped TMOs/binary TMOs/doped binary TMOs(the second-generation),inactive/active support-immobilized TMOs(the third-generation),and ternary/quaternary compositions(the fourth-generation).The first two generations represent suspended catalysts,the third generation is supported catalysts,and the fourth generation can be suspended or *** review provides an elaborated comparison between suspended and supported catalysts,their general/specific requirements,key factors controlling degradation,and the methodologies for performance *** the plausible fundamental and advanced dye degradation mechanisms involved in each generation of catalysts were *** existing challenges in TMOs-based photocatalysis and how the researchers approach the hitch to resolve it effectively are *** research trends are also presented.

关键词： Photocatalysis Dye degradation Transition metal oxides and composites supported catalysts suspended catalysts

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Magneto-Photo-Thermoelastic Excitation Rotating semiconductor Medium Based on Moisture Diffusivity

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Computer Modeling in Engineering & sciences 2024年第10期141卷 107-126页

作者： Khaled Lotfy A.M.s.Mahdy Alaa A.El-Bary E.s.Elidy Department of Mathematics Faculty of ScienceZagazig UniversityZagazig44519Egypt Department of Mathematics Faculty of ScienceTaibah UniversityMadinah42353Saudi Arabia Department of Mathematics and statistics College of ScienceTaif UniversityTaif11099Saudi Arabia Arab Academy for science Technology and Maritime TransportAlexandria1029Egypt

In this research,we focus on the free-surface deformation of a one-dimensional elastic semiconductor medium as a function of magnetic field and moisture *** problem aims to analyze the interconnection between plasma and moisture diffusivity processes,as well as thermo-elastic *** study examines the photothermoelasticity transport process while considering the impact of moisture *** employing Laplace’s transformation technique,we derive the governing equations of the photo-thermo-elastic *** equations include the equations for carrier density,elastic waves,moisture transport,heat conduction,and constitutive *** stresses,thermal conditions,and plasma boundary conditions are used to calculate the fundamental physical parameters in the Laplace *** employing numerical techniques,the Laplace transform is inverted to get complete time-domain solutions for the primary physical domains under ***,thermoelastic,and thermoelectric characteristics are employed in conjunction with a graphical analysis that takes into consideration the effects of applied forces on displacement,moisture concentration,carrier density,stress due to forces,and temperature distribution.

关键词： Moisture diffusivity semiconductor photothermoelastic rotation thermomechanical waves laplace transform

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Painlevéintegrability,auto-Bäcklund transformations,new abundant analytic solutions including multi-soliton solutions for time-dependent extended KdV8 equation in nonlinear physics

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Journal of Ocean Engineering and science 2024年第5期9卷 489-507页

作者： shailendra singh s.saha Ray National Institute of Technology Department of MathematicsRourkela 769008India

In this paper,a new eighth-order(1+1)-dimensional time-dependent extended KdV equation has been *** considered equation is being found completely integrable by using the Painlevéanalysis ***,three auto-Bäcklund transformations have been generated by truncating the Painlevéseries at a constant *** auto-Bäcklund transformations have been used to derive various analytic solution families for the newly developed *** solutions include the kink-antikink soliton,kink-soliton,antikink-soliton,periodic-soliton,complex kink-soliton and complex periodic-soliton ***-soliton solutions including N-soliton solution,have been obtained by using the simplified Hirota’s method for the considered *** the results are being expressed graphically to signify the physical importance of the considered equation.

关键词： Higher-order KdV equation Painlevéanalysis Auto-Bäcklund transformation simplified Hirota method

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Adipose-derived regenerative therapies for the treatment of knee osteoarthritis

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World Journal of stem Cells 2024年第4期16卷 324-333页

作者： Ilias E Epanomeritakis Wasim s Khan Division of Trauma and Orthopaedic surgery Addenbrooke’s HospitalCambridge University Hospitals NHS Foundation TrustCambridge CB20QQUnited Kingdom Division of Trauma and Orthopaedic surgery Department of SurgeryUniversity of CambridgeCambridge CB20QQUnited Kingdom

Knee osteoarthritis is a degenerative condition with a significant disease burden and no disease-modifying *** treatment ultimately requires joint *** capable of regenerating cartilage could significantly reduce financial and clinical *** regenerative potential of mesenchymal stromal cells(MsCs)has been extensively studied in the context of knee *** has yielded promising results in human studies,and is likely a product of immunomodulatory and chondroprotective biomolecules produced by MsCs in response to ***-derived MsCs(AsCs)are becoming increasingly popular owing to their relative ease of isolation and high proliferative *** vascular fraction(sVF)and micro-fragmented adipose tissue(MFAT)are produced by the enzymatic and mechanical disruption of adipose tissue,*** avoids expansion of isolated AsCs ex vivo and their composition of heterogeneous cell populations,including immune cells,may potentiate the reparative function of *** this editorial,we comment on a multicenter randomized trial regarding the efficacy of MFAT in treating knee *** discuss the study’s findings in the context of emerging evidence regarding adipose-derived regenerative *** underlying mechanism of action of AsCs is proposed while drawing important distinctions between the properties of isolated AsCs,sVF,and MFAT.

关键词： Knee osteoarthritis Mesenchymal stromal cells Adipose tissue stromal vascular fraction Micro-fragmented adipose tissue Regeneration

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Provenance and depositional setting of the Late MiocenePleistocene clastic sediments in the eastern Arabian Peninsula and western Iraq using rare earth elements geochemistry

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Acta Geochimica 2024年第2期43卷 399-410页

作者： salih M.Awadh Zinah s.Al-Ankaz Mohanad R.A.Al-Owaidi John s.Armstrong-Altrin Department of Geology College of ScienceUniversity of BaghdadBaghdadIraq Department of Geology College of ScienceUniversity of WasitWasit 52011Iraq Department of Applied Geology College of ScienceUniversity of BabylonBabylon 51001Iraq Unidad de Procesos Oceanicos y Costeros Instituto de Ciencias del Mar y LimnologíaUniversidad Nacional Autonoma de MexicoCiudad Universitaria04510 Mexico CityCDMXMexico Department of Marine sciences Bharathidasan UniversityTiruchirapalliTamil Nadu 620024India

The sandstones of the Late miocene–Pliocene Dibdibba Formation in the Najaf–Karbala Plateau and Basra were examined to determine their source rocks and origin. The rare earth elements(REE) and trace elements(sc, Co, V, and Th) concentrations in these sandstones revealed that they likely derived from a single source. The steep light rare earth elements(LREE) and flat, heavy rare earth element(HREE) patterns, negative Eu anomaly, and high ΣREE contents in sandstones suggest its derivation from a suggests that a passive continental margin environment and originated from felsic source rocks. The average concentration of ΣREE is 93.5 ppm, which is lower than that of the average crustal compositions like Upper Continental Crust and Post Archean Australian shale. The higher proportion of LREE compared to HREE implies that these sandstones were recycled and derived from a distal source. The Th/Co, Th/sc, La/sc, La/Co, Eu/Eu*and(La/Lu)cn elemental ratios indicated that these Late Miocene–Pliocene sandstones were derived from felsic rocks located in the marginal region of the Arabian shield.

关键词： REE Dibdibba formation Clastic sediments Passive continental margin

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Experimental implementation of phase triplicator gratings in a spatial light modulator

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Chinese Optics Letters 2024年第2期22卷 64-69页

作者：高尚 María del Mar sánchez-López Ignacio Moreno Instituto de Bioingeniería Universidad Miguel HernándezElche 03202Spain Departamento de Física Aplicada Universidad Miguel HernándezElche 03202Spain Departamento de Ciencia de Materiales Óptica y Tec.Electr´onicaUniversidad Miguel HernándezElche 03202Spain

In this work,we compare different methods for implementing a triplicator,a phase grating that generates three equiintense diffraction *** design with optimal efficiency features a continuous phase profile,which cannot be easily reproduced,and is typically affected by *** compare its performance with binary and sinusoidal phase *** also analyze the effect of quantizing the phase ***,a random approach is adopted to eliminate the additional harmonic *** all cases,a liquid-crystal-on-silicon spatial light modulator is employed to experimentally verify and compare the different approaches.

关键词： diffraction gratings phase modulation triplicator spatial light modulators

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Potential applications of 7 Tesla magnetic resonance imaging in paediatric neuroimaging:Feasibility and challenges

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World Journal of Clinical Pediatrics 2024年第2期13卷 1-6页

作者： Arosh s Perera Molligoda Arachchige Letterio s Politi Final Year Medical student Faculty of MedicineHumanitas UniversityPieve Emanuele 20089Italy Department of Neuroradiology IRCCS Humanitas Research HospitalRozzano 20089MilanItaly Department of Biomedical sciences Humanitas UniversityPieve Emanuele 20072MilanItaly

The integration of 7 Tesla magnetic resonance imaging(7 T MRI)in adult patients has marked a revolutionary stride in *** this article we explore the feasibility of 7 T MRI in paediatric practice,emphasizing its feasibility,applications,challenges,and safety *** heightened resolution and tissue contrast of 7 T MRI offer unprecedented diagnostic accuracy,particularly in *** range from neuro-oncology to neonatal brain imaging,showcasing its efficacy in detecting subtle structural abnormalities and providing enhanced insights into neurological *** the promise,challenges such as high cost,discomfort,and safety concerns necessitate careful *** suggests that,with precautions,7 T MRI is feasible in paediatrics,yet ongoing studies and safety assessments are imperative.

关键词： 7 Tesla magnetic resonance imaging Pediatric imaging Feasibility Challenges

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