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An Inchworm-inspired Robot Based on Modular Body, Electronics and Passive Friction Pads Performing the Two-anchor Crawl Gait

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Journal of Bionic Engineering 2018年第5期15卷 820-826页

作者： Flavio Moreira Anthony Abundis Michael Aguirre Justin Castillo pranav A. bhounsule Robotics and Motion Laboratory Department of Mechanical Engineering The University of Texas at San Antonio One UTSA Circle San Antonio rX78249 USA

We have created an inchworm robot capable of the two-anchor crawl gait on level ground and inclined plane. The main novelty is in the design of the inchworm：（1） three-part body that is 3D printed and actuated by two servo motors to allow a looping and lengthening action, （2） passive friction pads to anchor the feet, each of which may be disengaged using a servo motor actuated lever arm, and （3） modular body and electronics. The robot is about 2 feet （61 cm） in length, has a mass of about 4 kg, and uses an open-loop controller to achieve steady crawling gait. The inchworm robot achieved a speed of 2.54 em.sI on level ground as well as on an incline plane of 19~. The energy usage as measured by the Mechanical Cost of Transport （a non-dimensional number defined as the energy used per unit weight per unit distance moved） is 3.34. Our results indicate that simple robotic designs that copy the basic features of natural organisms provide a promising alternative over conventional wheeled robots.

关键词： inchworm bioinspiration two-anchor crawl gait 3D printing sliding locomotion cost of transport

A Workable Solution for Reducing the Large Number of Vehicle and Pedestrian Accidents Occurring on a Yellow Light

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Journal of Transportation Technologies 2024年第1期14卷 82-87页

作者： pranav Gupta Silki Arora Drive Safe Now Ottawa Canada

Traffic intersections are incredibly dangerous for drivers and pedestrians. Statistics from both Canada and the U.S. show a high number of fatalities and serious injuries related to crashes at intersections. In Canada, during 2019, the National Collision Database shows that 28% of traffic fatalities and 42% of serious injuries occurred at intersections. Likewise, the U.S. National Highway Traffic Administration (NHTSA) found that about 40% of the estimated 5,811,000 accidents in the U.S. during the year studied were intersection-related crashes. In fact, a major survey by the car insurance industry found that nearly 85% of drivers could not identify the correct action to take when approaching a yellow traffic light at an intersection. One major reason for these accidents is the “yellow light dilemma,” the ambiguous situation where a driver should stop or proceed forward when unexpectedly faced with a yellow light. This situation is even further exacerbated by the tendency of aggressive drivers to inappropriately speed up on the yellow just to get through the traffic light. A survey of Canadian drivers conducted by the Traffic Injury Research Foundation found that 9% of drivers admitted to speeding up to get through a traffic light. Another reason for these accidents is the increased danger of making a left-hand turn on yellow. According to the National Highway Traffic Safety Association (NHTSA), left turns occur in approximately 22.2% of collisions—as opposed to just 1.2% for right turns. Moreover, a study by CNN found left turns are three times as likely to kill pedestrians than right turns. The reason left turns are so much more likely to cause an accident is because they take a driver against traffic and in the path of oncoming cars. Additionally, most of these left turns occur at the driver’s discretion—as opposed to the distressingly brief left-hand arrow at busy intersections. Drive Safe Now proposes a workable solution for reducing the number of accidents occurring during a yellow light at intersections. W

关键词： Traffic Accidents Yellow Light Traffic Light Signals Intersection Crashes Collision Traffic Fatalities Traffic Injuries Vehicles Safety Speed Limit Driving Pedestrians Bicyclists Motorcyclists Caution Line Yellow Light Dilemma Left Hand Turn on Yellow Distance Smart Road Technology Signs Signage Autonomous Vehicles AVs Road Safety IoT Internet of Things Infrastructure Accident Reduction Driving Habits Stop Line Red Light Jumping Pedestrian Safety Caution Light Stopping at Intersection Safety at Intersections

Chemical surface tuning of zinc metal anode toward stable,dendrite-less aqueous zinc-ion batteries

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Journal of Energy Chemistry 2023年第11期86卷 1-8,I0001页

作者： pranav Kulkarni Sun-Sik Kim Hyun Young Jung Department of Energy Engineering Gyeongsang National UniversityJinju-siGyeongnam 52725South Korea Department of Energy System Engineering Gyeongsang National UniversityJinju-siGyeongnam 52725South Korea

The commercialization of Zn batteries is confronted with urgent challenges in the metal anode,such as dendrite formation,capacity loss,and cracking or dissolution.Here,surface interfacial engineering of the Zn anode is introduced for achieving safety and dendritic-free cycling for high-performance aqueous Zn batteries through a simple but highly effective chemical etching-substitution method.The chemical modification induces a rough peak-valley surface with a thin fluorine-rich interfacial layer on the Zn anode surface,which regulates the growth orientation via guiding uniform Zn plating/stripping,significantly enhances accessibility to aqueous electrolytes and improves wettability by reducing surface energy.As a result,such a synergetic surface effect enables uniform Zn plating/stripping with low polarization of 29 m V at a current density of 0.5 m A cm^(-2) with stable cyclic performance up to 1000 h.Further,a full cell composed of a fluorine-substituted Zn anode coupled with aβ-MnO_(2)or Ba-V_(6)O_(13)cathode demonstrates improved capacity retention to 1000 cycles compared to the pristine-Zn cells.The proposed valley deposition model provides the practical direction of surface-modified interfacial chemistries for improving the electrochemical properties of multivalent metal anodes via surface tuning.

关键词： Dendrite free Peak-Valley surface Zinc-ion batteries Surface modification Fluorinated interface

Load dependent microstructural evolution in an as-cast 26%Cr high chromium cast iron during unlubricated sliding

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Friction 2022年第8期10卷 1258-1275页

作者： U.pranav NAYAK Sebastian SUÁREZ Valentin PESNEL Frank MÜCKLICH María Agustina GUITAR Department of Materials Science Saarland UniversitySaarbrücken 66123Germany Materials Engineering Center Saarland Saarbrücken 66123Germany Ecole Européenne d’ingénieurs en Génie des Matériaux Universitéde LorraineNancy 54000France

In the current study,an as-cast 26%Cr high chromium cast iron(HCCI)alloy was subjected to dry-sliding linear wear tests,under different loads.The loads were selected based on analytically computing the critical load(PC)i.e.,the load necessary to induce plastic deformation.The PC was calculated to be 15 N and accordingly,a sub-critical load(5 N)and an over-critical load(20 N)were chosen.The influence of increasing the load during the wear test was investigated in terms of the matrix microstructural behaviour and its ability to support the surrounding carbides.The morphological aspects of the wear tracks,and the deformed matrix microstructure adjacent and underneath the track was analysed by confocal laser scanning microscope(CLSM)and scanning electron microscope(SEM),respectively.No evidence of plastic deformation of the matrix was observed below PC.On the contrary,at loads equal to and higher than PC,the austenitic matrix plastically deformed as evidenced by the presence of slip bands.Electron backscattered diffraction(EBSD)measurements in terms of grain reference orientation deviation,and micro-Vickers hardness of the austenitic matrix indicated a deformation depth of about 40μm at the maximum applied load of 20 N.The active wear mechanisms during sliding were a combination of both adhesive and abrasive wear,although increasing the load shifted the dominant mechanism towards abrasion.This was primarily attributable to the increased propensity for carbide cracking and fracturing,combined with the inability of the hardened austenitic matrix surface and sub-surface to adequately support the broken carbide fragments.Moreover,the shift in the dominant wear mechanism was also reflected in the wear volume and subsequently,the wear rate.

关键词： high chromium cast iron unlubricated sliding plastic deformation wear resistance carbide spallation matrix hardness

Mutation Prediction for Coronaviruses Using Genome Sequence and Recurrent Neural Networks

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Computers, Materials & Continua 2022年第10期73卷 1601-1619页

作者： pranav Pushkar Christo Ananth Preeti Nagrath Jehad F.Al-Amri Vividha Anand Nayyar Bharati Vidyapeeth’s College of Engineering New Delhi110063India Department of Natural and Exact Sciences Samarkand State UniversitySamarkandUzbekistan Graduate School Duy Tan UniversityDa Nang550000Viet Nam Faculty of Information Technology Duy Tan UniversityDa Nang550000Viet Nam Department of Information Technology College of Computers and Information TechnologyTaif UniversityTaif21944Saudi Arabia

The study of viruses and their genetics has been an opportunity as well as a challenge for the scientific community.The recent ongoing SARSCov2(Severe Acute Respiratory Syndrome)pandemic proved the unpreparedness for these situations.Not only the countermeasures for the effect caused by virus need to be tackled but the mutation taking place in the very genome of the virus is needed to be kept in check frequently.One major way to find out more information about such pathogens is by extracting the genetic data of such viruses.Though genetic data of viruses have been cultured and stored as well as isolated in form of their genome sequences,there is still limited methods on what new viruses can be generated in future due to mutation.This research proposes a deep learning model to predict the genome sequences of the SARS-Cov2 virus using only the previous viruses of the coronaviridae family with the help of RNN-LSTM(Recurrent Neural Network-Long ShortTerm Memory)and RNN-GRU(Gated Recurrent Unit)so that in the future,several counter measures can be taken by predicting possible changes in the genome with the help of existing mutations in the virus.After the process of testing the model,the F1-recall came out to be more than 0.95.The mutation detection’s accuracy of both the models come out about 98.5%which shows the capability of the recurrent neural network to predict future changes in the genome of virus.

关键词： COVID-19 genome sequence coronaviridae RNN-LSTM RNN-GRU

Simultaneous enantioseparation and simulation studies of atenolol,metoprolol and propranolol on Chiralpak^■IG column using supercritical fluid chromatography

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Journal of Pharmaceutical Analysis 2021年第6期11卷 746-756页

作者： pranav A.Pandya Priyanka A.Shah pranav S.Shrivastav Department of Chemistry School of SciencesGujarat UniversityAhmedabad380009India

Enantioseparation of threeβ-blockers,i.e.,atenolol,metoprolol and propranolol,was studied on amylose tris(3-chloro-5-methylphenylcarbamate)immobilized chiral stationary phase using supercritical fluid chromatography(SFC).The effect of organic modifiers(methanol,isopropanol and their mixture),column temperature and back pressure on chiral separation ofβ-blockers was evaluated.Optimum chromatographic separation with respect to resolution,retention,and analysis time was achieved using a mixture of CO_(2) and 0.1%isopropyl amine in isopropanol:methanol(50:50,V/V),in 75:25(V/V)ratio.Under the optimized conditions,the resolution factors(Rs)and separation factors(a)were greater than3.0 and 1.5,respectively.Further,with increase in temperature(25-45℃)and pressure(100-150 bars)there was corresponding decrease in retention factors(k),a and Rs.However,a reverse trend(a and Rs)was observed for atenolol with increase in temperature.The thermodynamic data from van’t Hoff plots revealed that the enantioseparation was enthalpy driven for metoprolol and propranolol while entropy driven for atenolol.To understand the mechanism of chiral recognition and the elution behavior of the enantiomers,molecular docking studies were performed.The binding energies obtained from simulation studies were in good agreement with the elution order found experimentally and also with the free energy values.The method was validated in the concentration range of 0.5-10μg/m L for all the enantiomers.The limit of detection and limit of quantitation ranged from 0.126 to 0.137μg/m L and 0.376-0.414μg/m L,respectively.The method was used successfully to analyze these drugs in pharmaceutical preparations.

关键词： Enantioseparation Supercritical fluid chromatography β-blockers Chiralpak^(■)IG column Molecular docking Binding energy

A comprehensive review of pre-lithiation/sodiation additives for Li-ion and Na-ion batteries

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Journal of Energy Chemistry 2023年第1期76卷 479-494,I0012页

作者： pranav Kulkarni Hyunyoung Jung Debasis Ghosh Mohammed Jalalah Mabkhoot Alsaiari Farid A.Harraz R.Geetha Balakrishna Centre for Nano and Material Sciences Jain Global CampusJain UniversityKanakapuraBangalore 562112KarnatakaIndia Department of Energy Engineering Gyeongsang National UniversityJinju-siCyeongnam 52725South Korea Promising Centre for Sensors and Electronic Devices(PCSED) Advanced Materials and Nano-Research CentreNajran UniversityNajran 11001Saudi Arabia Department of Electrical Engineering College of EngineeringNajran UniversityNajran 11001Saudi Arabia Empty Quarter Unit Department of ChemistryFaculty of Science and Arts at SharurahNajran UniversityNajran 11001Saudi Arabia Nanomaterials and Nanotechnology Department Central Metallurgical Research and Development Institute(CMRDI)HelwanCairo 11421Egypt

Lithium/Sodium-ion batteries(LIB/SIB)have attracted enormous attention as a promising electrochemical energy storage system due to their high energy density and long cycle life.One of the major hurdles is the initial irreversible capacity loss during the first few cycles owing to forming the solid electrolyte interphase layer(SEI).This process consumes a profusion of lithium/sodium,which reduces the overall energy density and cycle life.Thus,a suitable approach to compensate for the irreversible capacity loss must be developed to improve the energy density and cycle life.Pre-lithiation/sodiation is a widely accepted process to compensate for the irreversible capacity loss during the initial cycles.Various strategies such as physical,chemical,and electrochemical pre-lithiation/sodiation have been explored;however,these approaches add an extra step to the current manufacturing process.Alternative to these strategies,pre-lithiation/sodiation additives have attracted enormous attention due to their easy adaptability and compatibility with the current battery manufacturing process.In this review,we consolidate recent developments and emphasize the importance of using pre-lithiation/sodiation additives(anode and cathode)to overcome the irreversible capacity loss during the initial cycles in lithium/sodium-ion batteries.This review also addresses the technical and scientific challenges of using pre-lithiation/sodiation additives and offers the insights to boost the energy density and cycle life with their possible commercial exploration.The most important prerequisites for designing effective pre-lithiation/sodiation additives have been explored and the future directions have been discussed.

关键词： Pre-lithiation/sodiation additives Solid electrolyte interphase Anode pre-lithiation/sodiation additives Cathode pre-lithiation/sodiation additives Coulombic efficiency

Systemic postnatal corticosteroid use for the prevention of bronchopulmonary dysplasia and its relationship to early neurodevelopment in extremely preterm

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World Journal of Pediatrics 2023年第6期19卷 586-594页

作者： Emilia Esterman Traci-Anne Goyen pranav Jani Gemma Lowe Jane Baird Rajesh Maheshwari Daphne D’Cruz Melissa Luig Dharmesh Shah Department of Neonatology Westmead HospitalWestmeadAustralia Faculty of Medicine and Health The University of SydneySydneyAustralia

Background Systemic postnatal corticosteroid use in extremely preterm infants poses a risk of adverse neurodevelopmental outcomes.This study explores their use beyond seven days of age with early neurodevelopmental assessments during the fidgety period(9-20 weeks postterm age).Methods This retrospective single-center cohort study included inborn extremely preterm infants from 1 January 2014 to 31 December 2018.Outborn infants,those with congenital or genetic abnormalities,and those who received postnatal cor-ticosteroids for nonrespiratory reasons were excluded.The cohort was dichotomized based on the status of corticosteroid receipt.Early neurodevelopmental outcomes were reported using Prechtl's General Movements Assessment.Results Of the 282 infants,67(23.75%)received corticosteroids.Of these,34(50.75%)received them for dependency on invasive ventilation(intermittent positive-pressure ventilation),and the remainder received them for dependency on non-invasive ventilation continuous positive airway pressure(CPAP)or bi-level positive airway pressure(BiPAP).Abnormal or absent fidgety movements were observed in 13% of infants(7/54)who received corticosteroids compared to 2% of infants(3/146)who did not.An increased odds for an abnormal general movements assessment from corticosteroid use after adjusting for gestational age[adjusted odds ratio(aOR)=5.5,95% confidence interval(CI)=1.14-26.56]was observed.The motor optimality scores differed between the two groups[corticosteroid group:25.5(23-26)versus no-corticosteroid group:26(24-28);z=-2.02].A motor optimality score<20 was observed in 14.8% of infants(8/54)in the corticosteroid group compared to 2% of infants(3/146)in the noncorticosteroid group.This difference was significant after adjustment for gestational age(aOR 5.96,95%CI 1.28-27.74).Conclusions Abnormal early neurodevelopment was observed in infants who received systemic postnatal corticosteroids.The relationship between these findings and other factors influencing early neurodevelopment needs further explor

关键词： Corticosteroids Early neurodevelopment General movement assessment Preterm infants

Remdesivir, dexamethasone and angiotensin-converting enzyme inhibitors use and mortality outcomes in COVID-19 patients with concomitant troponin elevation

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世界心脏病学杂志:英文版(电子版) 2023年第9期15卷 427-438页

作者： Chukwuemeka A Umeh Heather Maoz Jessica Obi Ruchi Dakoria Smit Patel Gargi Maity pranav Barve Internal Medicine Hemet Global Medical CenterHemetCA 92543United States

BACKGROUND There are indications that viral myocarditis,demand ischemia,and renin-angio-tensin-aldosterone system pathway activation play essential roles in troponin elevation in coronavirus disease 2019(COVID-19)patients.Antiviral medications and steroids are used to treat viral myocarditis,but their effect in patients with elevated troponin,possibly from myocarditis,has not been studied.AIM To evaluate the effect of dexamethasone,remdesivir,and angiotensin-converting enzyme(ACE)inhibitors(ACEI)on mortality in COVID-19 patients with elevated troponin.METHODS Our retrospective observational study involved 1788 COVID-19 patients at seven hospitals in Southern California,United States.We did a backward selection Cox multivariate regression analysis to determine predictors of mortality in our study population.Additionally,we did a Kaplan Meier survival analysis in the subset of patients with elevated troponin,comparing survival in patients that received dexamethasone,remdesivir,and ACEI with those that did not.RESULTS The mean age was 66 years(range 20-110),troponin elevation was noted in 11.5%of the patients,and 29.9%expired.The patients'age[hazard ratio(HR)=1.02,P<0.001],intensive care unit admission(HR=5.07,P<0.001),and ventilator use(HR=0.68,P=0.02)were significantly associated with mortality.In the subset of patients with elevated troponin,there was no statistically significant difference in survival in those that received remdesivir(0.07),dexamethasone(P=0.63),or ACEI(P=0.8)and those that did not.CONCLUSION Although elevated troponin in COVID-19 patients has been associated with viral myocarditis and ACE II receptors,conventional viral myocarditis treatment,including antiviral and steroids,and ACEI did not show any effect on mortality in these patients.

关键词： Coronavirus disease 2019 Troponin elevation Remdesevir Ace inhibitor Steroids