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Optimal Gait for Bioinspired Climbing Robots Using Dry Adhesion： A Quasi-Static Investigation

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Journal of Bionic Engineering 2013年第1期10卷 1-11页

作者： paolo Boscariol Michael A. Henrey Yasong Li Carlo Menon MENRVA Research Group School of Engineering Science Simon Fraser University Burnaby BC V5A 1S6 Canada

Legged robots relying on dry adhesives for vertical climbing are required to preload their feet against the wall to increase contact surface area and consequently maximize adhesion force. Preloading a foot causes a redistribution of forces in the entire robot, including contact forces between the other feet and the wall. An inappropriate redistribution of these forces can cause irreparable detachment of the robot from the vertical surface. This paper investigates an optimal preloading and detaching strategy that minimizes energy consumption, while retaining safety, during locomotion on vertical surfaces. The gait of a six-legged robot is planned using a quasi-static model that takes into account both the structure of the robot and the character- istics of the adhesive material. The latter was modelled from experimental data collected for this paper. A constrained optimi- zation routine is used, and its output is a sequence of optimal posture and motor torque set-points.

关键词： climbing robot dry adhesive gait planning legged robots preloading

Perception of Disasters and Land Reclamation in an Informal Settlement on Reclaimed Land:Case of the BASECO Compound,Manila,the Philippines

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International Journal of Disaster Risk Science 2020年第5期11卷 640-654页

作者： Ven paolo Bruno Valenzuela Miguel Esteban Onuki Motoharu Graduate Program in Sustainability Science-Global Leadership Initiative The University of TokyoKashiwaChiba 277-8563Japan Department of Civil and Environmental Engineering Waseda UniversityTokyo 169-8555Japan

Southeast Asia's coastal urban areas continue to grow,with land reclamation fast becoming an important option for megacities to address issues of economic growth and increasing population *** are divided over the advantages and disadvantages of land reclamation,though this process continues unabated,exposing settlements to coastal *** Bataan Shipping and Engineering Company(BASECO)compound is an informal settlement on reclaimed land in Manila,the *** informal coastal settlements view disaster risk and their more pressing socioeconomic needs is crucial to understanding the potentials and repercussions of land *** a topographic survey,a questionnaire survey,and the protective action decision model,this study explored the perception of disasters and land reclamation of informal settlers who are living on reclaimed *** study found that people are aware of disaster risks,but are more concerned with everyday *** are divided on the issue of further land *** on the original non-reclaimed land view it as a coastal defense,while those on reclaimed land fear potential *** this,all locations in the community are concerned with the loss of jobs,economic opportunities,and eviction,rather than potential disasters.

关键词： Coastal hazards Flooding Informal settlements Land reclamation Philippines Risk perception Urbanization

DEMONSTRATING THE SYNERGY BETWEEN CAC AND SCHEDULING IN WIRELESS NETWORKS

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International Journal of Modeling, Simulation, and Scientific Computing 2013年第1期4卷 96-118页

作者： paolo PILEGGI GIUSEPPE IAZEOLLA PIETER KRITZINGER Networking Group University of Rome‘Tor Vergata’ Italy Software Engineering and System Performance Modelling Group University of Rome‘Tor Vergata’ Italy Communications Research Group Department of Electrical Engineering University of Cape Town South Africa

Wireless technology is now an integral part of communication network *** their first beginnings,such as connection-oriented General System Mobile networks for voice traffic only and connectionless wireless local area networks for data traffic,new generation wireless networks are connection-oriented and provide differentiated services to the *** the arrival of more sophisticated services and mobility,have arisen the need for Connection Admission Control and traffic scheduling in the network to enhance the quality of experience(QoE)of the user and optimizing the revenue in dynamic workload environments.A great deal of research effort has gone into the study of the performance of one such network standard,namely the IEEE 802.16 *** optimization studies focus on scheduling(a very mature subject in computing)and ignore connection admission(a very mature subject in telephone engineering)or vice *** this paper we claim that one should not study the two in isolation and provide empirical evidence to prove our claim.

关键词： Scheduling connection admission control simulation IEEE 802.16 differentiated services.

Sigma-1 receptor and neuroprotection:current outlook and potential therapeutic effects

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Neural Regeneration Research 2016年第9期11卷 1392-1393页

作者： Giovanni Li Volti paolo Murabito Department of Biomedical and Biotechnological Sciences University of Catania Azienda Ospedaliera Universitaria Policlinico "G. Rodolico" University of Catania

Oxidative stress plays a major role in neurodegenerative disease since central nervous system is particularly vul- nerable to reactive oxygen species （ROS） due to several reasons： high consumption ROS and nitrosative species, of O2; high production of which originate from spe- cific neurochemical reactions （e.g., dopamine oxidation）; high deposition of metal ions in the brain with aging leading to Fenton＇s reactions; high abundance of lipids which are particularly sensitive to oxidation.

关键词： MCAO Sigma-1 receptor and neuroprotection

Dynamic, thermal, and vibrational analysis of ball bearings with over-skidding behavior

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Friction 2023年第4期11卷 580-601页

作者： Shuai GAO Qinkai HAN paolo PENNACCHI Steven CHATTERTON Fulei CHU Department of Mechanical Engineering Politecnico di MilanoVia G.La Masa 1Milan 20156Italy State Key Laboratory of Tribology Department of Mechanical EngineeringTsinghua UniversityBeijing 100084China

The term“over-skidding”indicates that the cage rotational speed ratio exceeds the theoretical value as ball purely rolls on the *** from the skidding phenomenon that occurs in low-load and high-speed bearing,over-skidding usually occurs in large-size angular contact bearings,and it is still difficult to suppress under high load *** main forms of damage to the raceway by over-skidding are spinning and gyro *** further explore the vibration characteristics and thermal effects of this phenomenon,a set of over-skidding tests of an angular contact bearing with a bore diameter of 220 mm were conducted on an industrial-size test *** the experiment,the influence of axial load,rotational speed,and lubrication conditions on the occurrence of over-skidding were *** on a previous dynamics model,the heat generation and thermal network models were integrated in the present study to predict the over-skidding and its thermal *** model was validated in terms of the measured degree of over-skidding and temperature *** results showed that the degree of over-skidding reaches up to 12%of the theoretical value,and the friction power loss of the ball-pocket accounts for 30%of the total power *** analysis of the vibration signal showed a strong correlation between the bearing vibration characteristics and over-skidding behavior,thereby providing a way to indirectly measure the degree of over-skidding.

关键词： over-skidding vibration characteristics dynamic model power loss temperature rise

Giant colonic diverticulum,clinical presentation,diagnosis and treatment: Systematic review of 166 cases

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World Journal of Gastroenterology 2015年第1期21卷 360-368页

作者： Giuseppe Nigri Niccolò Petrucciani Giulia Giannini paolo Aurello paolo Magistri Marcello Gasparrini Giovanni Ramacciato Department of Surgery Sapienza Università di RomaSt.Andrea Hospital00189 RomeItaly

AIM: To investigate the clinical presentation,diagnosis,and treatment of giant colonic diverticulum(GCD,by means of a complete and updated literature review).GCD is a rare manifestation of diverticular disease of the *** than 200 studies on GCD were published in the literature,predominantly case reports or small patient ***: A systematic review of the literature was performed using the Embase and PubM ed databases toidentify all the GCD *** following MESH search headings were used: "giant colonic diverticulum"; "giant sigmoid diverticulum".The "related articles" function was used to broaden the search,and all of the abstracts,studies,and citations were reviewed by two *** following outcomes were of interest: the disease and patient characteristics,study design,indications for surgery,type of operation,and postoperative ***,a subgroup analysis of cases treated in the last 5 years was performed to show the current trends in the treatment of GCD.A GCD case in an elderly patient treated in our department by a sigmoidectomy with primary anastomosis and a diverting ileostomy is presented as a typical example of the ***: In total,166 GCD cases in 138 studies were identified in the *** most common clinical presentation was abdominal pain,which occurred in 69% of the *** the physical signs,an abdominal mass was detected in 48% of the cases,whereas 20% of the patients presented with fever and 14% with abdominal *** is based predominantly on abdominal computed *** most frequent treatment was colic resection with en-bloc resection of the diverticulum,performed in 57.2% of cases,whereas Hartmann's procedure was followed in 11.4% of the cases and a diverticulectomy in 10.2%.An analysis of sixteen cases reported in the last 5 years showed that the majority of patients were treated with sigmoidectomy and en-bloc resection of the diverticulum; the postoperative mortality wa

关键词： Colonic Diverticulum Sigmoid Surgery Giant

Repair of a mal-repaired biliary injury:A case report

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World Journal of Gastroenterology 2009年第18期15卷 2283-2286页

作者： Awad Aldumour paolo Aseni Mohmmad Alkofahi Luca Lamperti Elias Aldumour paolo Girotti Luciano Gregorio De Carlis Department of Hepatobiliary Surgery and Liver Transplantation Unit Niguarda Hospital20162 MilanItaly

Iatrogenic bile-duct injury post-laparoscopic cholecystectomy remains a major serious complication with unpredictable long-term results. We present a patient who underwent laparoscopic cholecystectomy for gallstones, in which the biliary injury was recognized intraoperatively. The surgical procedure was converted to an open one. The first surgeon repaired the injury over a T-tube without recognizing the anatomy and type of the biliary lesion, which led to an unusual biliary mal-repair. Immediately postoperatively, the abdominal drain brought a large amount of bile. A T-tube cholangiogram was performed. Despite the contrast medium leaking through the abdominal drain, the mal-repair was recognized intraoperatively. The surgical procedure was converted to an open one. The first surgeon repaired the injury over a T-tube without recognizing the anatomy and type of the biliary lesion, which led to an unusual biliary mal-repair. Immediately postoperatively, the abdominal drain brought a large amount of bile. A T-tube cholangiogram was performed. Despite the contrast medium leaking through the abdominal drain, the mal-repair was unrecognized. The patient was referred to our hospital for biliary leak. Ultrasound and cholangiography was repeated, which showed an unanatomical repair （right to left hepatic duct anastomosis over the T-tube）,with evidence of contrast medium coming out through the abdominal drain. Eventually the patient was subjected to a definitive surgical treatment. The biliary continuity was re-established by a Roux-en-Y hepaticojejunostomy, over transanastomotic external biliary stents. The patient is now doing well 4 years after the second surgical procedure. In reviewing the literature, we found a similar type of injury but we did not find a similar surgical real-repair. We propose an algorithm for the treatment of early and late biliary injuries.

关键词： Biliary tract injury Surgical complication Biliary surgery Laparoscopic cholecystectomy

Alcohol and hepatocellular carcinoma:A review and a point of view

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World Journal of Gastroenterology 2014年第43期20卷 15943-15954页

作者： Gianni Testino Silvia Leone paolo Borro Centro Alcologico Regionale-Regione Liguria Alcoholic UnitDepartment of General Internal and Specialist MedicineIRCCS AOU San Martino-National Institute for Cancer Research-IST Department of Internal Medicine Clinical Pharmacology and Toxicology UnitUniversity of Genoa

It is well recognized that one cause of chronic liver disease and hepatocellular carcinoma(HCC)is alcohol *** in Italy and the United States concludes that the most common cause of HCC(responsible for 32%to 45%of HCC)is *** has recently been shown that a significant relationship between alcohol intake,metabolic changes,and hepatitis virus infection does *** may be a factor in the development of HCC via direct(genotoxic)and indirect mechanisms(cirrhosis).There is only one way of diagnosing HCC,which is early identification through surveillance,when curative treatments become *** stopping alcohol intake the risk of liver cancer decreases by 6%to 7%a year,and an estimated time period of 23 years is also ***,surveillance is also important in former drinkers and,in our opinion,independently from the presence of compensated *** cases of very early stage(VES)and early stage with portal hypertension,liver transplantation is the optimal option;and in cases of associated disease,percutaneous ethanol injections,radiofrequency and microwave ablation are the ideal *** the possibility of detecting microvascular invasion with HR,several studies and some randomized controlled trials revealed that overall survival and DSF rates in patients with VES HCC are much the same after ablation and ***,ablation can be regarded as a firstline choice for patients with VES *** is important to emphasize that the choice of treatment should be weighed carefully in the context of a multidisciplinary cancer team.

关键词： Alcohol Alcoholic liver disease Hepatocellular carcinoma Percutaneous ablation

Kriging metamodels for the dynamic response of high-rise buildings with outrigger systems and fragility estimates for seismic and wind loads

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Resilient Cities and Structures 2022年第1期1卷 110-122页

作者： Lili Xing paolo Gardoni Ying Zhou State Key Laboratory of Disaster Reduction in Civil Engineering Tongji UniversityShanghai 200092China Deptarment of Civil and Environmental Engineering University of Illinois3118 Newmark Civil Engineering Laboratory205N.Mathews Ave.UrbanaIL 61801United States

This paper proposes kriging metamodels for the dynamic response of high-rise buildings with outrigger systems subject to seismic and wind *** types of outrigger systems are ***-dimensional(3D)finite element models of high-rise buildings with outrigger systems are developed using *** generated from the finite element models are used to develop the proposed kriging metamodels.A sensitivity analysis is then carried out to determine the most sensitive input parameters in kriging metamodels to gain insights and suggest possible future *** proposed kriging metamodels are used to develop fragility estimates for high-rise buildings with three types of outrigger systems under seismic and wind loads.

关键词： Kriging metamodel Sensitivity analysis Fragility estimate Outrigger systems Seismic and wind loads