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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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Pile foundation in alternate layered liquefiable and non-liquefiable soil deposits subjected to earthquake loading

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Earthquake Engineering and Engineering Vibration 2024年第2期23卷 359-376页

作者： Praveen Huded m Suresh r dash LEA Associates South East Asia Pvt.Ltd. New Delhi 110044India Indian Institute of Technology Bhubaneswar Khurda 752050India

Pile foundations are still the preferred foundation system for high-rise structures in earthquake-prone *** foundations have experienced failures in past earthquakes due to *** on pile foundations in liquefiable soils has primarily focused on the pile foundation behavior in two or three-layered soil ***,in natural occurrence,it may occur in alternative layers of liquefiable and non-liquefiable ***,the experimental and/or numerical studies on the layered effect on pile foundations have not been widely addressed in the *** of the design codes across the world do not explicitly mention the effect of sandwiched non-liquefiable soil layers on the pile *** the present study,the behavior of an end-bearing pile in layered liquefiable and non-liquefiable soil deposit is studied *** study found that the kinematic bending moment is higher and governs the design when the effect of the sandwiched non-liquefied layer is considered in the analysis as opposed to when its effect is ***,ignoring the effect of the sandwiched non-liquefied layer in a liquefiable soil deposit might be a nonconservative design approach.

关键词： pile foundation liquefaction alternately layered soil fixity effect layered effect

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Enhancement of coercivity,permeability,and dielectric properties of Co_(0.2)Zn_(0.3)Ni_(0.5)Eu_(x)Fe_(2-x)O_(4) ferrites for memory and high frequency devices

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Journal of rare Earths 2024年第6期42卷 1128-1135,I0005页

作者： I.Sardar m.d.Hossain m.S.Sikder m.N.I.Khan m.r.rahman Physics discipline Khulna UniversityKhulna9208Bangladesh department of Physics Khulna University of Engineering&TechnologyKhulna9203Bangladesh department ofComputer Science and Engineering Northern University of Business&Technology KhulnaKhulna9100Bangladesh material Science division Atomic Energy CentreDhaka1000Bangladesh

Spinel cubic ferrites have huge applications in me mory and high frequency *** the improvement of these modern devices,the magnetic coercivity,permeability,and dielectric properties of a ferrite are the important *** article focuses on improving the magnetic coercivity,magnetic permeability,and dielectric properties of Co_(0.2)Zn_(0.3)Ni_(0.5)Eu_(x)Fe_(2-x)O_(4) ferrites,where x=0.00,0.06,and *** X-ray diffraction(Xrd),Fourier transform infrared spectroscopy(FTIr),field emission scanning electron microscopy(FESEm),energy dispersive X-ray(EdX),vibrating sample magnetometer(VSm),and an impedance analyzer were used to characterize the structural,magnetic,and dielectric properties of the *** Xrd patterns indicate the formation of spinel cubic structure of the samples with a secondary peak(EuFeO_(3))for Eu doped *** densities and porosities of the samples follow an inverse trend,where the doped samples’lattice parameters are increased with the increment of rare earth Eu *** FTIr analysis also proves the spinel cubic phase of the *** average grain size of the ferrites is obtained via FESEm images,and it is increased from 121 to 198 *** analysis confirms that doping of the Eu content also changes other hysteresis loop properties of Co_(0.2)Zn_(0.3)Ni_(0.5)Eu_(x)Fe_(2-x)O_(4) ***,the coercivity of the Eu doped samples is greater than that of the mother alloy(x=0.00).The EdX study shows that there is no impurity contamination in the *** permeability and dielectric measurements show an improved quality factor of the Eu-doped samples with low magnetic and dielectric *** dependent resistivity and impedance analysis also show the improved *** the observed properties of the samples,all the investigated ferrites might be strong candidates for potential applications in memory devices,magnetic sensors,and high frequency applications.

关键词： Ferrites raree arths Coercivity Permeability EdX resistivity

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Nonlinear dynamic modeling of planar moving Timoshenko beam considering non-rigid non-elastic axial effects

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Applied mathematics and mechanics(English Edition) 2024年第3期45卷 479-496页

作者： m.ABBASI GAVArI m.r.HOmAEINEZHAd Faculty of mechanical Engineering K.N.Toosi University of TechnologyTehran 19991-43344Iran

due to the importance of vibration effects on the functional accuracy of mechanical systems,this research aims to develop a precise model of a nonlinearly vibrating single-link mobile flexible *** manipulator consists of an elastic arm,a rotary motor,and a rigid carrier,and undergoes general in-plane rigid body motion along with elastic transverse *** accurately model the elastic behavior,Timoshenko’s beam theory is used to describe the flexible arm,which accounts for rotary inertia and shear deformation *** applying Newton’s second law,the nonlinear governing equations of motion for the manipulator are derived as a coupled system of ordinary differential equations(OdEs)and partial differential equations(PdEs).Then,the assumed mode method(Amm)is used to solve this nonlinear system of governing equations with appropriate shape *** assumed modes can be obtained after solving the characteristic equation of a Timoshenko beam with clamped boundary conditions at one end and an attached mass/inertia at the *** addition,the effect of the transverse vibration of the inextensible arm on its axial behavior is *** the axial rigidity,the effect makes the rigid body dynamics invalid for the axial behavior of the ***,numerical simulations are conducted to evaluate the performance of the developed model,and the results are compared with those obtained by the finite element *** comparison confirms the validity of the proposed dynamic model for the *** to the mentioned features,this model can be reliable for investigating the system’s vibrational behavior and implementing vibration control algorithms.

关键词： planar moving Timoshenko beam non-rigid non-elastic axial effect as-sumed mode method(Amm) nonlinear motion analysis

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Control system design for a pressure-tube-type supercritical water-cooled nuclear reactor via a higher order sliding mode method

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Nuclear Science and Techniques 2024年第1期35卷 145-154页

作者： m.Hajipour G.r.Ansarifar department of Nuclear Engineering Faculty of PhysicsUniversity of IsfahanIsfahan 81746-73441Iran

Nuclear power plants exhibit non-linear and time-variable ***,designing a control system that sets the reactor power and forces it to follow the desired load is complicated.A supercritical water reactor(SCWr)is a fourth-generation conceptual *** an SCWr,the non-linear dynamics of the reactor require a controller capable of control-ling the *** this study,a pressure-tube-type SCWr was controlled during reactor power maneuvering with a higher order sliding mode,and the reactor outgoing steam temperature and pressure were controlled *** an SCWr,the temperature,pressure,and power must be maintained at a setpoint(desired value)during power *** point kinetics equations with three groups of delayed neutrons were used in the ***-order and classic sliding mode controllers were separately manufactured to control the plant and were compared with the PI controllers speci-fied in previous *** controlled parameters were reactor power,steam temperature,and ***,for these parameters,the PI controller had certain instabilities in the presence of *** classic sliding mode controller had a higher accuracy and stability;however its main drawback was the chattering *** was highly accurate and stable and had a small computational *** reality,it followed the desired values without oscillations and chattering.

关键词： Supercritical water nuclear reactor Higher order sliding mode controller Steam temperature Steam pressure Point kinetics model

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Simple collective model for nuclear chiral mode

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Frontiers of physics 2024年第2期19卷 1-5页

作者： r.V.Jolos E.A.Kolganova d.r.Khamitova Joint Institute for Nuclear research 141980 DubnaMoscow regionRussia dubna State University 141982 DubnaMoscow RegionRussia

A simple semi-analytical collective model that takes into account the limitations of the variation interval of the collective variable is suggested to describe the chiral dynamics in triaxial odd−odd nuclei with a fixed particle−hole *** collective Hamiltonian is constructed with the potential energy obtained using the postulated ansatz for the wave function symmetric with respect to chiral *** diagonalizing the collective Hamiltonian the wave functions of the lowest states are obtained and the evolution of the energy splitting of the chiral doublets in transition from chiral vibration to chiral rotation regime is demonstrated.

关键词： collective model nuclear chiral

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Parametric investigation on the novel and cost-effective nano fly ash impregnated geopolymer system for sustainable construction

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Frontiers of Structural and Civil Engineering 2024年第2期18卷 170-183页

作者： r.mOHANA S.m.Leela BHArATHI department of Civil Engineering Mepco Schlenk Engineering CollegeSivakasi 626123India

The hazardous environmental effects of greenhouse gas emissions and climate change demand alternative sources for cementitious materials in the construction *** development of geopolymer structures provides a way of producing 100%cement-free *** this research work,a novel and simple way of deriving nano particles from waste fly ash particles is *** effect of adding the synthesized nano fly ash particles as a filler medium in geopolymer mortars was investigated by considering strength and durability *** optimization was done by using regression analysis on the geopolymer mortar and the impact of adding nano fly ash particles was studied by varying different percentages of addition ranging from 0 to 7.5%by weight of binder *** the results,it was observed that 1%nano fly ash acted not only as a filler but also as nano-sized precursors of the polymerization process,resulting in denser geopolymer *** can explain the extraordinary gain in strength of 72.11 mPa as well as the denser core with negligible level of chloride ion penetration,making the material suitable for the development of structures susceptible to marine environment.

关键词： geopolymer nano fly ash chloride ion penetration durability polymerization fillers

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malargüe Site remediation:A Successful Solution for Uranium mill Tailings

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原子能科学技术 2024年第10期58卷 2088-2094页

作者： BArArI E díAZ J G GIOmIA KEmPF r A National Atomic Energy Commission Av.Del Libertador 8250Ciudad Autónoma de Buenos AiresC1429BNPArgentina

Comisión Nacional de Energía Atómica (CNEA) has the responsibility for restoring uranium mining facilities once the operations have ***,within its Environmental Program and in compliance with its legal responsibilities,decides to implement a restoration project for all sites related to the mining and processing of uranium *** malargüe Site is located within the Province of mendoza in the city of malargü*** is the first site to successfully complete its *** activities consist of relocation of tailings to an engineering *** tailings management(encapsulation) and rehabilitation of the area was finished in June *** remediation alternative for the ore tailings was selected after conducting comparative studies and submitted the project to the society for *** objective of the encapsulation of the mineral tails is to isolate them from the environment,also proceeding with the decontamination and rehabilitation of the area (landscaping,post-closure monitoring and 20 years monitoring period).Encapsulation consisted of the construction of a containment cell for the mine tailings,to isolate them and prevent pollutants from entering the environment through the transfer *** clean the impacted areas,the soil was removed,it was incorporated into the encapsulation,and the filling was carried out with natural soils from the *** prevents radon transfer to the environment,as ^(222)ra is an alpha emitter with a half-life of four days,which produces its own radioactive *** progeny are solids,and when a ^(222)ra nucleus emits an alpha particle into the air,the resulting ^(218)Po nucleus,momentarily electrically charged,adheres to any dust *** prevents the discharge into the air containing radon and also containing dust particles charged with intensely radioactive radon *** tasks mentioned make it possible to decrease radon emanation,reduce radiological risks to the public and pre

关键词： remediation radionuclide transfer tailings encapsulation solution sustainable

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Excellent photoluminescence and electrochemical properties of Sm^(3+) doped Ca_(2)mgSi_(2)O_(7) nanophosphor:display and electrochemical sensor applications

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Journal of rare Earths 2024年第6期42卷 1046-1055,I0002页

作者： r.B.Basavaraj K.Sureshkumar d.P.Aarti m.B.madhusudana reddy G.Nagaraju T.ramakrishnappa G.r.Navyashree K.r.Venkatesha Babu K.S.Hemalatha department of Physics BMS Institute of Technology and ManagementBangalore560064India department of Chemistry BMS Institute of Technology and ManagementBangalore560064India department of Chemistry School of Applied SciencesREVA UniversityBangalore560064India Energy materials researchLaboratory Department of ChemistrySiddaganga Institute of TechnologyTumakuru57203KarnatakaIndia School of Physical Sciences REVA UniversityBangalore560057Indi department of Physics Govt.Science CollegeBengaluru560001India department of Physics Maharani Science College for WomenMaharani Cluster UniversityBengaluru560001India

A series of orange-red light emitting Ca_(2)mgSi_(2)O_(7):Sm^(3+)nanopowders were fabricated via low-cost ecofriendly green combustion technique using Aloe vera gel as *** phase purity of the samples were confirmed by the powder X-ray diffraction(PXrd)*** single-phase tetragonal structure is observed from the PXrd results with no additional impurity *** band gap energy of the fabricated powders was estimated by diffuse reflectance spectra(drS)and is found to be in the range of 4.01-5.98 eV.A high resolution scanning electron microscope(SEm)was used to study the morphological behaviour of the ***-like structures are observed from the SEm *** particle size was evaluated by transmission electron microscopy(TEm)and is found to be~50 *** interplanar distance is found to be 0.53 *** properties were systematically studied in *** phosphors are successfully excited at 403 nm NUV light,producing reddish-orange characteristic *** emission peaks are centered at 558(^(4)G_(5/2)→^(6)H_(5/2)),607(^(4)G_(5/2)→^(6)H_(7/2))and 645 nm(^(4)G_(5/2)→^(6)H_(9/2)),*** the observed peaks the red emanation(^(4)G_(5/2)→^(6)H_(7/2))is stronger than the orange emission(^(4)G_(5/2)→^(6)H_(5/2))in the current *** photoluminescent concentration quenching is noticed above 5 mol%Sm^(3+)ion doping *** dipole-dipole interaction resulting in cross relaxation is found to be the principal cause of concentration quenching *** color features such as Commission Internationale de I’Eclairage(CIE)and correlated color temperature(CCT)were studied in *** optimized chromaticity coordinates were estimated to be(0.6363,0.3632),which fall in the reddish-orange *** average CCT value obtained is 3362 *** average color purity is found to be~82%.Sm^(3+)incorporated Ca_(2)mgSi_(2)O_(7) samples are possible contender for single white light generation commercial candidates owing to

关键词： Green combustion Photoluminescence Orange-red emission Color purity Sensors rare earths

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Aerodynamics of a Tandem-Bladed Axial Compressor rotor under Circumferential distortion at different rotational Speeds

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Journal of Thermal Science 2024年第4期33卷 1340-1356页

作者： Amit KUmAr Jerry T.JOHN A.m.PrAdEEP r.A.dAKKErmANS dragan KOZULOVIC department of Aerospace Engineering Indian Institute of Technology BombayMumbai400076India department of Automotive and Aeronautical Engineering Hamburg University of Applied Sciences20099HamburgGermany Institute of Jet Propulsion Bundeswehr University Munich85577NeubibergGermany

For most aircraft engines,inflow distortion is *** distortion is known to degrade the aerodynamic performance and stable operating limits of a *** rotor configuration is an arrangement that effectively controls the growth of the boundary layer over the suction surface of the ***,a higher total pressure rise can be achieved through this unconventional design approach involving the splitting of the blade into forward and aft *** is expected that the effect of inlet flow distortion would be more severe for a tandem-rotor design due to the greater flow turning inherent in such ***,this aspect needs to be thoroughly *** present study discusses the effect of circumferential distortion on the tandem-rotor at different rotational ***-annulus rANS simulations using ANSYS CFX are used in the present *** performance of the rotor at a particular flow coefficient and different rotational speeds is *** total pressure and efficiency are observed to drop at lower mass flow rates under the influence of circumferential *** loss region in each blade passage is mainly associated with the blade wake,tip leakage vortex,secondary flow,and boundary ***,their contribution varies from passage to passage,particularly in the distorted *** the lower span,the wake width is found to be higher than that at a higher *** to the redistribution of the mass flow,the circumferential extent reduces at a higher *** the undistorted sector,the strength of the tip leakage vortex is significantly higher at the design rotational speed than at lower *** distortion near the tip region promotes an early vortex breakdown even at the design operating *** adversely affects the total pressure,efficiency,and stall *** clean flow conditions,this phenomenon is only observed near the stall *** the design operating condition,the breakdown of the forward rotor tip l

关键词： tandem rotor circumferential distortion loss tip leakage vortex vortex breakdown diffusion factor aerodynamics of compressor blade

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