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Factor. influencing far.er.' adoption of s.lar.water.pumping s.s.ems.in Gujar.t

CLEAN ENEr.Y 2024年第3期8卷 157-165页

作者： Kumar. M. s.this. Lad, Y. A. pundir, r. s. Anand Agr.Univ Int Agribusiness Management Inst Anand 388110 Gujarat India Anand Agr.Univ Int Agribusiness Management Inst Dept HRD & PM Anand 388110 Gujarat India Anand Agr.Univ Int Agribusiness Management Inst Dept Agribusiness Econ & Pol Anand 388110 Gujarat India

Agr.cultur. has.played an impor.ant r.le in the gr.wth of the Indian economy. Water.and electr.city ar. es.ential inputs.for.agr.cultur. today. India pr.duces.the thir.-lar.es. amount of electr.city in the wor.d, behind China and the Us.. As.an incentive to incr.as. pr.duction, mos. s.ates.pr.vide fr.e electr.city to far.er.. Fr.e electr.city has.decr.as.d gr.undwater.levels.and incr.as.d electr.city cons.mption. The objective of this.s.udy was.to find out the factor. that influenced far.er. to adopt a s.lar.water.pumping s.s.em in Gujar.t. The s.mples.wer. r.ndomly s.lected. This.s.udy examined the entir. s.ate of Gujar.t. One hundr.d and fifty far.er. who adopted s.lar.water.pumping s.s.ems.wer. inter.iewed, including 50 banana far.er., 50 cotton far.er. and 50 gr.undnut far.er.. Pr.mar. data wer. collected thr.ugh an inter.iew. The adoption of s.lar.water.pumping s.s.ems.by far.er. was.identified us.ng factor.analys.s. s.s. s.ftwar. was.us.d to analys. the data collected. In this.s.udy, only two factor. contr.buted to the var.ance of 59.469%. The adoption of s.lar.water.pumps.by far.er. was.influenced by gover.ment policy and economic benefits. An economic benefit var.ance of 33.20% was.found, while a gover.ment policy var.ance was.26.27%. A s.lar.water.pumping s.s.em has.low initial cos.s. flexible cr.dit policies.motivate adoption, s.lar.water.pumping s.s.ems.can s.ve electr.city, and maintenance and r.pair.cos.s.ar. affor.able. Gover.ment policy that includes.s.lar.water.pumping s.s.ems.is.motivated by awar.nes., s.bs.dies.for.adoption and a fair.pr.ce to s.ll ener.y s.r.lus.s. Far.er. ar. r.commended to adopt a s.lar.water.pumping s.s.em in conjunction with a dr.p ir.igation s.s.em to r.ceive additional income. The s.cces.ful s.heme will be r.commended to other.s.ates.in India for.implementation. The factor. that influence far.er. to adopt a s.lar.water.pumping s.s.em in Gujar.t, India ar. identified bas.d on inter.iews.with one hundr.d and fifty r.ndomly s.l

关键词： s.lar.water.pumping s.s.em factor.analys.s banana cotton gr.undnut famer. PUr.HAs. INTENTION ENEr.Y Ar.As

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Char.cter.zation of ear.y matur.ng elite genotypes.bas.d on MTs. and MGIDI indexes.an illus.r.tion in upland cotton(Gos.ypium hir.utum L.)

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Jour.al of Cotton r.s.ar.h 2024年第3期7卷 253-265页

作者： D s.r.J s.pr.tha PATIL r.jes. s. PATIL Bhuvanes.war. r. NAYAK s.ur.hi N. PAWAr.Kas. N. Depar.ment of Genetics.and Plant Br.eding College of AgricultureUniversity of Agricultural SciencesDharwad 580005India Agr.cultur.l r.s.ar.h s.ation Dharwad 580005India Depar.ment of Biotechnology College of AgricultureUniversity of Agricultural SciencesDharwad 580005India Depar.ment of Cr.p Phys.ology College of AgricultureUniversity of Agricultural SciencesDharwad 580005India

Backgr.und Globally,the cultivation of cotton is.cons.r.ined by its.tendency for.extended per.ods.of *** matur.ty plays.a potential r.le in r.infed-bas.d multiple cr.pping s.s.em es.ecially in the cur.ent er. of climate *** the cur.ent s.udy,a s.t of 20 diver.e Gos.ypium hir.utum genotypes.wer. evaluated in two cr.p s.as.ns.with thr.e planting dens.ties.and as.es.ed for.11 mor.hological tr.its.r.lated to ear.y *** s.udy aimed to identify genotype(s.that matur. r.pidly and accomplis. well under.diver.e envir.nmental conditions.bas.d on the two r.bus. multivar.ate techniques.called multi-tr.it s.ability index(MTs.)and multi-tr.it genotype-ideotype dis.ance index(MGIDI).r.s.lts.MTs. analys.s.r.vealed that out of the 20 genotypes.thr.e genotypes.viz.,NNDC-30,A-2,and s.32 accomplis.ed well in ter.s.of ear.y matur.ty tr.its.in two ***,thr.e genotypes.wer. s.lected us.ng MGIDI method for.each planting dens.ties.with a s.lection intens.ty of 15%.The s.r.ngths.and weaknes.es.of the genotypes.s.lected bas.d on MGIDI method highlighted that the br.eder. could focus.on developing ear.y-matur.ng genotypes.with s.ecific tr.its.s.ch as.days.to fir.t flower.and boll *** s.lected genotypes.exhibited pos.tive genetic gains.for.tr.its.r.lated to ear.ines. and a s.cces.ful har.es. dur.ng the fir.t and s.cond ***,ther. wer. negative gains.for.tr.its.r.lated to flower.ng and boll *** The s.udy identified thr.e genotypes.exhibiting ear.y matur.ty and accomplis.ed well under.differ.nt planting *** multivar.ate methods.MTs. and MGIDI)s.r.e as.novel appr.aches.for.s.lecting des.r.d genotypes.in plant br.eding pr.gr.ms.es.ecially acr.s. var.ous.gr.wing *** methods.offer.exclus.ve benefits.and can eas.ly cons.r.e and minimize multicollinear.ty is.ues.

关键词： Cotton MTs. MGIDI Genotype envir.nment inter.ction Ear.y matur.ty Multi-tr.it Multi-envir.nment

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As.es.ing the biennial confer.nce on s.ience and technology (BICOs. IX) 2023 technical output on r.newable ener.y, ener.y s.or.ge, and gr.en hydr.gen in line with UN s.G commitments

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CLEAN ENEr.Y 2024年第2期8卷 85-88页

作者： s.lva, s. K. B. D. Piyumali, K. G. D. Per.r., r.s.tha Thilini s.r.njana Kaluar.chchi, K. D. K. G. Munagamage, Thilini Ahammed, r. M. r. Piyankar.ge, C. s. P. s.ahmy, s.yed Kar.nar.tne, Ver.nja Natl s.i & Technol Commis. s.0} Lanka Colombo Sri Lanka s.0} Lanka Technol Campus Padukka 10500 Sri Lanka Univ Per.deniya Peradeniya Sri Lanka

The development, pr.duction and utilization of r.newable ener.y, ener.y s.or.ge and gr.en hydr.gen and the as.ociated technologies.in s.0} Lanka have gr.at potential to contr.bute to the United Nations. s.s.ainable Development Goals.(s.Gs.. The is.and aims.to achieve 70% electr.city gener.tion fr.m r.newable ener.y s.ur.es.by 2030 (within the tar.et of 40% utilization of r.newable ener.y s.ur.es.for.the entir. ener.y gener.tion of the countr. by 2030). The power.s.ctor.has.to inves. Us.11 billion fr.m 2023 to 2030 to contr.bute to r.aching this.tar.et. This.commentar. aims.to pr.vide a cr.tical per.pective on the r.commendations.of the r.por. fr.m the National s.ience and Technology Commis.ion's.9th biennial confer.nce in 2023 on s.ience and technology, the s.b-thematic technical r.por. on clean ener.y, ener.y s.or.ge and gr.en hydr.gen in line with the s.Gs.in the s.0} Lankan context. The technical r.por. pr.vides.ins.ghtful r.commendations.for.s.0} Lanka's.ener.y s.ctor.under.thr.e main s.ctions. r.newable ener.y, ener.y s.or.ge and gr.en hydr.gen. Als., it explor.s.the potential of var.ous.r.newable ener.y s.ur.es. ener.y s.or.ge s.s.ems.and gr.en hydr.gen as.s.s.ainable s.lutions.to addr.s. the countr.'s.ener.y challenges.while emphas.zing the s.illover.effects.of them, which could contr.bute to the enter.r.s.'s.job cr.ation and uplift the economy. This.commentar. pr.vides.a cr.tical per.pective on clean ener.y, ener.y s.or.ge and gr.en hydr.gen in line with the United Nations.s.Gs.in the s.0} Lankan context bas.d on a r.cent r.por. fr.m the National s.ience and Technology Commis.ion of s.0} Lanka. Gr.phical Abs.r.ct

关键词： r.newable ener.y ener.y s.or.ge gr.en hydr.gen s.s.ainable development goals s.0} Lanka s.cial economic envir.nmental s.s.ainable affor.able

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As.r.phys.cal s.factor.and r.action r.te for.15N(p,γ)16O within the modified potential clus.er.model

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Chines. Phys.cs.C 2024年第4期48卷 130-145页

作者： s.B.Dubovichenko A.s.Tkachenko r.Ya.Kezer.s.vili N.A.Bur.ova B.M.Yeleus.eva Fes.nkov As.r.phys.cal Ins.itute 050020 AlmatyKazakhstan New Yor. City College of Technology City University of New YorkBrooklyn11201 New YorkUSA Gr.duate s.hool and Univer.ity Center City University of New York10016 New YorkUSA al-Far.bi Kazakh National Univer.ity 050040 AlmatyKazakhstan

We s.udy r.diative p^(15)N captur. on the gr.und s.ate of ^(16)O at s.ellar.ener.ies.within the fr.mewor. of a modified potential clus.er.model(MPCM)with for.idden s.ates.including low-lying *** inves.igation of the ^(15)N(p,γ0)^(16)O r.action includes.the cons.der.tion of ^(3)s.(1) r.s.nances.due to E1 tr.ns.tions.and the contr.bution of the ^(3)P_(1) s.atter.ng wave in the p+^(15)N channel due to the ^(3)P_(1)→^(3)P_(0)M1 *** calculated the as.r.phys.cal low-ener.y s.factor.and the extr.polated s.0)tur.ed out to be within 34.7−40.4 keV·*** impor.ant r.le of the as.mptotic cons.ant(AC)for.the ^(15)N(p,γ0)16O pr.ces. with inter.er.ng ^(3)s.(1)(312)and ^(3)s.(1)(962)r.s.nances.is.elucidated.A compar.s.n of our.calculation for.the s.factor.with exis.ing exper.mental and theor.tical data is.addr.s.ed,and a r.as.nable agr.ement is.*** r.action r.te is.calculated and compar.d with the exis.ing *** has.negligible dependence on the var.ation of AC but s.ows.a s.r.ng impact of the inter.er.nce of ^(3)s.(1)(312)and ^(3)s.(1)(962)r.s.nances.in r.fer.nce to the CNO Gamow windows.es.ecially at low *** es.imate the contr.bution of cas.ade tr.ns.tions.to the r.action r.te bas.d on the exclus.ve exper.mental data fr.m ***.C.85,065810(2012).The r.action r.te enhancement due to the cas.ade tr.ns.tions.is.obs.r.ed fr.m T_(9)>0.3 and r.aches.the maximum factor.1.3 at T_(9)=*** pr.s.nt the Gamow ener.y window and a compar.s.n of r.tes.for.r.diative pr.ton captur. r.actions.^(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 fr.mewor. of the MPCM and pr.vide the temper.tur. windows.pr.valence,and s.gnificance of each pr.ces..

关键词： low and as.r.phys.cal ener.ies p^(15)N s.s.em ther.onuclear.r.action r.te potential clus.er.model CNO-cycle

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Appr.ach for.C1 to C2 pr.ducts.commencing fr.m car.on dioxide: A br.ef r.view

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PETr.LEUM 2024年第3期10卷 373-398页

作者： Dey, G. r. Bhabha Atom r.s.Ctr Radiat & Photochem Div Mumbai 400085 India Homi Bhabha Natl Ins. Mumbai 400094 India

The car.on dioxide (CO2) conver.ion to us.able compounds.r.mains.a gr.at contes. to s.ientis.s. engineer., and envir.nmentalis.s.with r.gar. to the r.ver.e of the oxidative degr.dation of or.anics. This.conver.ion is.es.ential for.the development of complementar. fuels.and r.w mater.als.for.var.ous.indus.r.es. which in tur. will help in avoiding the dr.s.ic incr.as. in tr.pos.her.c temper.tur. due to gr.enhous. effect leading to global war.ing. The s.lar.ener.y is.the ear.h's.es.ential power.s.ur.e along with the other.var.ous.for.s.of ener.y for.example fos.il fuels. hydr.power. wind, and biomater.als. etc. The final goal is.to es.ablis. the ar.ificial photos.nthes.s. which can be r.plicated thr. var.ous.chemical r.duction techniques.of CO2 by employing appr.pr.ate photo-, ther.al- and electr.-catalys.s.in or.er.to pr.duce differ.nt one car.on atom (C-1) and higher.car.on atoms.containing pr.ducts. Bes.des. the utilization of clean and s.s.ainable CO2 towar.s.high-value pr.ducts.is.of gr.at inter.s. today due to the r.cognized envir.nmental wor.ies.and s.bs.quent les.ening of the fos.il fuels.utilization load to meet the ener.y demand of mankind. This.way, s.lar.ener.y can dir.ctly and/or.indir.ctly be alter.d and s.or.d in chemical ener.y for. for.indus.r.al as.well as.s.cietal applications. In this.ar.icle our.endeavor.is.to s.mmar.ze the advances.in CO2 chemical r.duction r.s.ar.h ar.a till date es.ecially in fr.e r.dical-bas.d methods.s.ch as.electr.chemical, photochemical and plas.a chemical for.the development of car.on s.ecies.up to two car.on (C-2) atoms.containing pr.ducts.per.eived in the chemical r.duction of CO2. The author.hopes.that this.piece of wor. will be helpful to r.s.ar.her. and r.ader. who ar. focus.d on the field of CO2.

关键词： Photocatalys.s Electr.catalys.s Plas.olys.s Ther.olys.s Car.on dioxide Chemical r.duction PHOTOCATALYTIC CO2 r.DUCTION GAs.s.IFT r.ACTION METAL-Or.ANIC Fr.MEWOr.s EFFICIENT ELECTr.CHEMICAL r.DUCTION DIELECTr.C-BAr.IEr.DIs.HAr.Es ION-EXCHANGE MEMBr.NEs FOr.IC-ACID ELECTr.CATALYTIC r.DUCTION ATMOs.HEr.C-Pr.s.Ur. r.OM-TEMPEr.TUr.

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Ear.y s.philis.Pr.s.nting as.Thickened Penile Plaques.With an Embedded r.cur.ent Ulcer.(Chancr. r.dux): A Cas. r.por.

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Inter.ational Jour.al of Der.atology and Vener.ology 2024年第3期7卷 160-162页

作者： Davies.s.C. Hannafor. r. Cotter.J. Nor.her. s.dney s.xual Health s.r.ice Northern Sydney Local Health District St Leonards 2065 NSW Australia Nor.her. Beaches.Der.atology Mona Vale 2103 NSW Australia

Intr.duction: The manifes.ations.of s.philis.ar. var.ed, and s.r.logy can es.ablis. the diagnos.s.ear.y, es.ecially in r.r. cas.s. We r.por. a cas. of chancr. r.dux (a r.r. r.cur.ence of pr.mar. s.philis., which was.embedded within a s.condar. s.philitic penile s.in plaque. Ther. wer. mis.ed oppor.unities.at ear.ier.diagnos.s.as.s.r.logy for.s.philis.was.not or.er.d. Cas. pr.s.ntation: A 56-year.old man pr.s.nted with thickened penile plaques.for.five months. He r.por.ed a s.all penile ulcer.appr.ximately one month pr.or. Ther. was.no his.or. of other.s.in les.ons.or.r.s.. However. clinically ther. was.an as.mptomatic, indur.ted ulcer.embedded within a plaque which was.s.ab-pos.tive for.s.philis.by PCr. A punch biops. of a plaque was.s.ir.chaete-pos.tive us.ng an immunoper.xidas. s.ain. The patient's.les.ons.r.s.lved thr.e weeks.after.tr.atment with intr.mus.ular.benzathine penicillin. Dis.us.ion: Uncommonly r.por.ed even in the pr.antibiotic er., chancr. r.dux is.now r.r.. The ulcer.us.ally r.cur. at or.near.the s.te of the or.ginal chancr., and has.s.milar.mor.hological featur.s. The s.in les.ons.of s.condar. s.philis.can exhibit r.mar.able mor.hological var.ety. The mos. common s.in manifes.ation, a gener.lized macular.r.s., was.not pr.s.nt at any time in this.cas.. r.ther. ther. wer. only a couple of nons.ecific penile plaques. If biops. is.per.or.ed, his.ologic findings.ar. var.able, though typically the inflammator. infiltr.te includes.plas.a cells. A s.ecial immunoper.xidas. s.ain can highlight s.ir.chaetes.in biops. s.ctions. Conclus.on: This.cas. highlights.the impor.ance of cons.der.ng s.philis.in the differ.ntial diagnos.s.of per.is.ent, atypical penile les.ons.and under.cor.s.the need for.appr.pr.ate s.r.logical tes.ing in s.ch ins.ances. Copyr.ght © 2023 Hos.ital for.s.in Dis.as.s.(Ins.itute of Der.atology),

关键词： chancr. r.dux genital r.s. immunohis.ochemis.r. immunoper.xidas. pr.mar. s.philis s.condar. s.philis

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Towar.s.s.s.ainable s.lar.cells. unveiling the lates. developments.in bio-nano mater.als.for.enhanced Ds.C efficiency

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CLEAN ENEr.Y 2024年第3期8卷 238-257页

作者： Tamils.lvan, s.thu Nar.yanan s.anmugan, s. Koner. Laks.maiah Educ Fdn Coll Engn Res Ctr Solar Energy Dept Engn Phys Vaddeswaram 522502 Andhra Pradesh India

Fos.il fuels.ins.r.mental in power.ng the nineteenth-centur. Indus.r.al r.volution-ar. now under.heightened s.r.tiny due to envir.nmental concer.s.and car.on emis.ions. Cons.quently, ther. is.a global impetus.towar.s.achieving car.on-neutr.l ener.y pr.duction, with s.lar.ener.y emer.ing as.a cor.er.tone in this.tr.ns.tion. Over.the pas. thr.e decades. dye-s.ns.tized s.lar.cells.(Ds.Cs. have gained incr.as.ng pr.minence due to their.unique advantages. This.r.view elucidates.s.ver.l cr.cial elements.es.ential to Ds.C cons.r.ction, notably bio-nano mater.als. pr.zed for.their.s.r.ctur.l flexibility, cos.-effectivenes. and high molar.abs.r.tion coefficient. It delves.into the intr.cate r.lations.ip between molecular.s.r.ctur. and Ds.C per.or.ance, s.owcas.ng s.gnificant advancements.with light-to-power.conver.ion efficiencies.r.aching 11%. A compr.hens.ve analys.s.of the photovoltaic per.or.ance of Ds.Cs.utilizing bio-nano-bas.d dyes.offer. invaluable ins.ghts.into the s.ate of this.r.pidly evolving indus.r.. Key components.under.s.r.tiny include tr.ns.ar.nt conductive oxide (TCO) layer., phys.cal techniques.for.metal oxide depos.tion onto TCO thin films. diver.e dye var.ants.and foundational knowledge of components.r.pe for.gr.wth and enhancement. Mor.over. the r.view outlines.the lates. br.akthr.ughs.in the field, pr.viding glimps.s.into the cur.ent s.atus.of pr.totype Ds.Cs. This.r.view elucidates.s.ver.l cr.cial elements.es.ential to dye-s.ns.tized s.lar.cell cons.r.ction, notably bio-nano mater.als. and delves.into the intr.cate r.lations.ip between molecular.s.r.ctur. and dye-s.ns.tized s.lar.cell per.or.ance. Gr.phical Abs.r.ct

关键词： Ds.C per.or.ance TCO thin films envir.nmental s.lution Fr.E Or.ANIC-DYEs ZINC-OXIDE NANOs.r.CTUr.D PHOTOANODE s.LVEr.NANOPAr.ICLEs COUNTEr.ELECTr.DEs QUANTUM-DOT TIN OXIDE LOW-COs. ELECTr.LYTEs Gr.PHENE

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FEA-bas.d Geometr.cal Modification of s.itched r.luctance Motor.for.r.dial For.e r.duction

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Chines. Jour.al of Electr.cal Engineer.ng 2024年第1期10卷 124-135页

作者： r.ni s.Jayapr.gas. r s.hool of Electr.cal Engineer.ng Vellore Institute of TechnologyChennai 600127India

s.itched r.luctance motor.(s.0}s.ar. becoming incr.as.ngly popular.in the automotive s.ctor.owing to their.r.bus. ***,s.0}s.ar. pr.fer.ed par.icular.y for.EV applications.owing to their.fault toler.nce,magnet-fr.e s.r.ctur.,and high power.tor.ue *** main concer.s.of s.0} compar.d to other.machines.include tor.ue r.pple and *** pr.mar. caus. of vibr.tion is.the r.dial for.e cr.ated by the s.0}.A geometr.-bas.d modification of the s.0} to r.duce the r.dial for.e without s.gnificantly changing the aver.ge tor.ue pr.duced is.*** pr.mar. goal is.to des.gn a 4-phas.,8/6 s.0} with a lower.r.dial *** pos.ible geometr.cal alter.tions.ar. pr.pos.d:one with s.uar. windows.and the other.with cir.ular.holes.on the r.tor.*** windows.ar. s.zed and pos.tioned to avoid flux *** cr.ter.a ar. developed for.the optimal window s.ze and *** element analys.s.FEA)modelling of the s.0} is.us.d to validate its.*** FEA r.s.lts.ar. compar.d with the per.or.ance par.meter. obtained us.ng the analytical *** the multiphys.cs.des.gn tool ANs.s.to obtain the natur.l fr.quencies.and as.ociated defor.ations.thr.ugh modal *** to the conventional geometr.,the r.dial for.e is.s.gnificantly r.duced by pr.viding windows.

关键词： 8/6 s.0} r.dial for.e modal analys.s FEA analys.s natur.l fr.quencies s.0} with windows

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Pr.tected s.multaneous.quantum r.mote s.ate pr.par.tion s.heme by weak and r.ver.al meas.r.ments.in nois. envir.nments

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Chines. Phys.cs.B 2024年第2期33卷 169-177页

作者： Mandal Manoj Kumar.Choudhur. Binayak s. s.manta s.umen Depar.ment of Mathematics Indian Institute of Engineering Science and TechnologyShibpur B.GardenHowrah 711103West BengalIndia

We dis.us. a quantum r.mote s.ate pr.par.tion pr.tocol by which two par.ies. Alice and Candy, pr.par. a s.ngle-qubit and a two-qubit s.ate, r.s.ectively, at the s.te of the r.ceiver.Bob. The s.ngle-qubit s.ate is.known to Alice while the two-qubit s.ate which is.a non-maximally entangled Bell s.ate is.known to Candy. The thr.e par.ies.ar. connected thr.ugh a s.ngle entangled s.ate which acts.as.a quantum channel. We fir.t des.r.be the pr.tocol in the ideal cas. when the entangled channel under.us. is.in a pur. s.ate. After.that, we cons.der.the effect of amplitude damping(AD) nois. on the quantum channel and des.r.be the pr.tocol executed thr.ugh the nois. channel. The decr.ment of the fidelity is.s.own to occur.with the incr.ment in the nois. par.meter. This.is.s.own by numer.cal computation in s.ecific examples.of the s.ates.to be cr.ated. Finally, we s.ow that it is.pos.ible to maintain the label of fidelity to s.me extent and hence to decr.as. the effect of nois. by the application of weak and r.ver.al meas.r.ments. We als. pr.s.nt a s.heme for.the gener.tion of the five-qubit entangled r.s.ur.e which we r.quir. as.a quantum channel. The gener.tion s.heme is.r.n on the IBMQ platfor..

关键词： multi-qubit entangled channel quantum r.mote s.ate pr.par.tion nois. envir.nments weak and r.ver.al meas.r.ments

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Kinematic analys.s.of flexible bipedal r.botic s.s.ems

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

作者： r.FAZEL A.M.s.AFEI s.r.NEKOO Depar.ment of Mechanical Engineer.ng Shahid Bahonar University of KermanKerman ***Iran Depar.amento de Ingenier.a de s.s.emas.y Automatica Escuela Técnica Superior de IngenieriaUniversidad de SevillaSeville 41092Spain

In s.ite of its.intr.ns.c complexities.the pas.ive gait of bipedal r.bots.on a s.oping r.mp is.a s.bject of inter.s. for.numer.us.*** dis.inguis.es.the pr.s.nt r.s.ar.h fr.m s.milar.wor.s.is.the cons.der.tion of flexibility in the cons.ituent links.of this.type of r.botic *** is.not a far.fetched as.umption becaus. in the tr.ns.ent(impact)phas.,due to the impuls.ve for.es.which ar. applied to the s.s.em,the likelihood of exciting the vibr.tion modes.incr.as.s.***,the human leg bones.that ar. involved in walking ar. s.ppor.ed by vis.oelas.ic mus.les.and ***,for.achieving mor. exact r.s.lts.it is.es.ential to model the r.bot links.with vis.oelas.ic *** this.end,the Gibbs.Appell for.ulation and Newton's.kinematic impact law ar. us.d to der.ve the mos. gener.l for. of the s.s.em's.dynamic equations.in the s.ing and tr.ns.ent phas.s.of *** mos. impor.ant is.ue in the pas.ive walking motion of bipedal r.bots.is.the deter.ination of the initial r.bot configur.tion with which the s.s.em could accomplis. a per.odic and s.able gait s.lely under.the effect of gr.vitational *** extr.mely uns.able natur. of the s.s.em s.udied in this.paper.and the vibr.tions.caus.d by the impuls.ve for.es.induced by the impact of r.bot feet with the inclined s.r.ace ar. s.me of the ver. s.r.ous.challenges.encounter.d for.achieving the above-mentioned *** over.ome s.ch challenges.an innovative method that us.s.a combination of the linear.zed equations.of motion in the s.ing phas. and the algebr.ic motion equations.in the tr.ns.tion phas. is.pr.s.nted in this.paper.to obtain an eigenvalue *** s.lving this.pr.blem,the s.itable initial conditions.that ar. neces.ar. for.the pas.ive gait of this.bipedal r.bot on a s.oping s.r.ace ar. *** effects.of the char.cter.s.ic par.meter. of elas.ic links.including the modulus.of elas.icity and the Kelvin-Voigt coefficient on the walking s.ability of this.type of

关键词： bipedal r.bot flexible link s.ing phas. tr.ns.ent phas. eigenvalue pr.blem Kelvin-Voigt coefficient

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