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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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Holographic dark energy in non-conserved gravity theory

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communications in theoretical Physics 2024年第4期76卷 126-133页

作者： H r Fazlollahi Institute of Gravitation and cosmology Peoples Friendship University of Russia(RUDN University)6 Miklukho-Maklaya StMoscow117198Russia

recently, reconsidering the rastall idea T_(μ;νν)^(v)=α_(,μ) through relativistic thermodynamics gives a new form for the scalar field α which led us to construct modern modified theory of gravity debugged ‘non-conserved gravity theory’ Fazlollahi 2023 Euro. Phys. J. c 83 923. this theory unlike other modified theories of gravity cannot directly explain the current acceleration expansion in the absence of the cosmological constant and or existence of other forms of dark energy. Hence, in this study we have reinvestigated holographic dark energy Ρ_(X)~H^(2) in the non-conserved theory of gravity. In this context, the density and pressure of dark energy depend on the non-conserved term and density of the dust matter field. As shown, due to non-conservation effects on large-scale structures, unlike the original holographic model, our model onsets an acceleration epoch for the current Universe satisfies observations. Moreover, the interaction and viscous scenarios are studied for this model.

关键词： non-conserved gravity covariant form of thermodynamics holographic dark energy

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Neurocognitive Profile of People Living with Human Immunodeficiency Virus Initiating Treatment in Kinshasa in the Dolutegravir Era, Democratic republic of congo

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Neuroscience & Medicine 2024年第1期15卷 1-22页

作者： candide About Kabamba Berry Ikolango Bongenya Jocelyn Ewuti Nonga Lambert Omombo Losenga Noëlla Maketi Dikati thérèse Kasaka Ntumba Grace Ipaya Booto rosalie Djamba Dembo Stéphanie Mauwa Selenge Benoit Obel Kabengele Guy Makila Mabe Bumoko Marie-thérèse Ayane Safi Sombo Erick Ntambwe Kamangu Department of Neurology Faculty of Medicine University of Kinshasa Kinshasa Democratic Republic of Congo Faculty of Medicine Bel Campus Technological University Kinshasa Democratic Republic of Congo “Focus HIV/AIDS” research Group Kinshasa Democratic Republic of Congo Department of Internal Medicine University Clinic of Kinshasa Kinshasa Democratic Republic of Congo Molecular Biochemistry Department Department of Basic Sciences Faculty of Medicine University of Kinshasa Kinshasa Democratic Republic of Congo

context: Antiretroviral therapies improve the prognosis of NeuroAIDS contrasting with a high frequency of Minor Neurocognitive Disorders (MND) even in aviremic subjects. Objective: the objective of this study is to present the neurological and cognitive profile of People Living with HIV (PLHIV) initiating antiretroviral treatment in Kinshasa in the era of Dolutegravir (DTG). Methods: this is a multicenter, cross-sectional study with a descriptive aim carried out in 16 HIV Outpatient Treatment centers (OTc) in Kinshasa from October 4, 2021 to February 15, 2022. the International HIV Dementia Scale (IHDS) correlated with the Activities of Daily Living (IADL) scale facilitated the categorization of Neurocognitive Disorders (NcD) of PLHIV evaluated after carrying out a summary neurological examination. results: Of the 96 patients recruited, 56.3% were women with a sex ratio of 0.68. the average age was 40.1 ± 12.1 years. the secondary education level was the majority at 64.6%. Malaria (44.8%) and tuberculosis (32.3%) were more common as opportunistic infections. they were alcoholics in (30.2%). their history was heart disease (15.6%), high blood pressure (18.8%);drug abuse (10.4%). the IHDS score was light in 55.2% of cases. the correlation between IHDS/IADL watches asymptomatic neurocognitive impairments (ANI) in 77.1%, almost all of subjects are found with normal overall functioning (94.8%) and a disturbed neurological examination in 53.1% of cases with a predominance of motor impairments in 79.1%. conclusion: In view of these results, early and systematic screening of NcD and associated factors remains necessary in our context. .

关键词： IHDS Dolutegravir Initiation Kinshasa Neurological Profile PLHIV

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Elbow Dislocation in children: About Two cases and review of the Literature

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Open Journal of Pediatrics 2024年第2期14卷 218-226页

作者： Nyanit Bob Dorcas Atangana cédric Paterson Mantho Fopa Pauline Kouna TsalaIrène Nadine Mvouni Bob thérèse raissa Bekima King Francis Ateaze chrisantus Dikongue Diwondi Audrey Ndongo réné Akoa Manga Ismael Evoni Molo Tatiana choupo Guetchuin Stéphane Handy Eone Daniel Department of Surgery and Specialties Faculty of Medecine and Biomedical Sciences University of Yaoundé I Yaoundé Cameroon Infant Surgery Department of Yaounde central Hospital Yaoundé Cameroon Faculty of Medecine and Pharmaceutical Sciences of Douala Douala Cameroon Troyes Hospital center Troyes France Vire Normandie Hospital center Normandie France Traumatology Department of Yaounde central Hospital Yaoundé Cameroon

Background: Elbow dislocations in pediatric patients are rare injuries. this is a therapeutic emergency because a delay in treatment can have disastrous consequences on the functional level of the upper limb. Objective: To present the management of elbow dislocation in children in cases of limited resources. Presentation of the cases: these were 2 older male children aged 7 and 9 years old, admitted to the emergency room for painful functional impotence of the right elbow after a fall and landing on the right hand. clinical and radiological examinations were in favor of posterior elbow dislocations. the reductions were carried out under sedation and immobilization in Jersey. According to robert’s criteria, the functional result was excellent in both patients. conclusion: Emergency reduction and immobilization whatever the means ensure an excellent functional prognosis even in cases of limited resources.

关键词： Elbow Dislocation child Diagnosis Treatment Limited resources

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Liver abnormalities following SArS-coV 2 infection in children 1 to 10 years of age

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Family Medicine and community Health 2024年第1期12卷 28-35页

作者： Pauline Terebuh Veronica r Olaker Ellen K Kendall David c Kaelber rong Xu Pamela B Davis center for Artificial Intelligence in Drug Discovery Case Western Reserve UniversityClevelandOHUSA the center for clinical Informatics research and Education The MetroHealth SystemClevelandOHUSA Department of Medicine PediatricsDepartment of Population and Quantitative Health SciencesCase Western Reserve UniversityClevelandOHUSA center for community Health Integration Case Western Reserve UniversityClevelandOHUSA

Objective Beginning in October 2021 in the USA and elsewhere,cases of severe paediatric hepatitis of unknown aetiology were identified in young *** the adenovirus and adenovirus-associated virus have emerged as leading aetiological suspects,we attempted to investigate a potential role for SArS-coV 2 in the development of subsequent liver *** We conducted a study using retrospective cohorts of deidentified,aggregated data from the electronic health records of over 100 million patients contributed by US healthcare *** compared with propensity score matched children with other respiratory infections,children aged 1-10 years with cOVID-19 had a higher risk of elevated transaminases(Hr(95%cI)2.16(1.74 to 2.69))or total bilirubin(Hr(95%cI)3.02(1.91 to 4.78)),or new diagnoses of liver diseases(Hr(95%cI)1.67(1.21 to 2.30))from 1 to 6 months after *** with pre-existing liver abnormalities,liver abnormalities surrounding acute infection,younger age(1-4 years)or illness requiring hospitalisation all had similarly elevated *** who developed liver abnormalities following cOVID-19 had more pre-existing conditions than those who developed abnormalities following other *** these results indicate that SArS-coV 2 may prime the patient for subsequent development of liver infections or non-infectious liver *** rare(~1 in 1000),SArS-coV 2 is a risk for subsequent abnormalities in liver function or the diagnosis of diseases of the liver.

关键词： elevated diagnosis subsequent

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Light sheet microscope scanning of biointegrated microlasers for localized refractive index sensing

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Photonics research 2024年第8期12卷 1673-1680页

作者： rOSS c.cOWIE MArcEL ScHUBErT SUPA School of Physics and AstronomyUniversity of St AndrewsSt AndrewsUK Humboldt centre for Nano and Biophotonics Department of ChemistryUniversity of CologneCologneGermany

Whispering gallery mode(WGM)microlasers are highly sensitive to localized refractive index changes allowing to link their emission spectrum to various chemical,mechanical,or physical *** recently found applications in biological studies within single cells,in three-dimensional samples such as multicellular spheroids,or in ***,detailed studies of biological samples also need to account for the structural heterogeneity of tissues and live animals,therefore requiring a combination of high-resolution microscopy and laser ***,we design and construct a light sheet fluorescence microscope with a coupled spectrometer for use in microlaser studies for combined high-resolution,high-speed imaging and WGM spectral *** light sheet illumination profile and the decoupled geometry of excitation and emission hereby directly affect the lasing and sensing properties,mainly through geometric constraints and by light coupling *** demonstrate the basic working principle of microlaser spectroscopy under light sheet excitation and measure the absolute refractive index within agarose and in zebrafish tail muscle *** further analyze the light coupling conditions that lead to the occurrence of two separate oscillation *** so-called cross modes can be scanned around the entire microlaser surface,which allows to estimate a surface-averaged refractive index profile of the microlaser environment.

关键词： refractive index excitation

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Important step towards an understanding of the exotic Z_(c)(3900)

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Science china(Physics,Mechanics & Astronomy) 2024年第9期67卷 199-200页

作者： c.Hanhart Institute for Advanced Simulation Forschungszentrum JulichJilich D-52425Germany

the Standard Model of particle physics,which contains the field theories for the electro-weak interaction(QED)and the strong interaction(QcD),is an extremely successful theory describing a huge variety of phenomena at... 详细信息

关键词： interaction atomic describing

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Investigating the impact of the universal function of the nuclear proximity potential in heavy-ion fusion cross sections

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communications in theoretical Physics 2024年第5期76卷 86-93页

作者： r Gharaei E Sarvari Department of Physics Sciences FacultyHakim Sabzevari UniversityPO Box 397SabzevarIran Department of Physics Faculty of ScienceFerdowsi University of MashhadPO Box 91775-1436MashhadIran Science Faculty Department of PhysicsTarbiat Modares UniversityTehranIran

the fusion barriers and cross sections of 15 colliding systems with 320≤Z_(1)Z_(2)≤1512 are investigated in detail to understand the influence of the universal function of proximity potential formalism in the heavy-ion fusion *** realize this goal,we select three versions of the phenomenological proximity potentials,including Prox.77,Zhang 2013,and Guo 2013,to calculate the nucleus-nucleus *** experimental fusion cross sections for the selected reactions are analyzed using the standard coupled-channel calculations,including couplings to the low-lying 2^(+)and 3^(-)states in the target and *** calculated results show that the universal functions of the Guo 2013 and Prox.77 models provide the lowest and highest fusion barriers,*** addition,it is found that the height of the fusion barriers is enhanced by increasing the mass number of the projectile from light to heavy *** highest sensitivity to the mass number of the projectile belongs to the results of Prox.77.A discussion is also presented on the influence of the universal function on the radial behavior of the interaction potential in the allowed region for overlapping *** results reveal that the best fit to the experimental data of the fusion cross sections for the reactions involving light and medium nuclei is obtained using the universal function of the Zhang 2013 *** the heavier systems,the results of the Guo 2013 model at sub-barrier energies provide a good description of the available data.

关键词： fusion reactions proximity-type potentials universal function coupled-channel calculations

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retrospective cohort Study to Investigate Pregnancy Outcomes in a Population of Advanced Maternal Age congolese Women of Kinshasa: A Study Protocol

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Open Journal of Obstetrics and Gynecology 2024年第9期14卷 1398-1406页

作者： Anne Kapinga Mutshiaudi thérèse Mikoka Walumpumpu Nicodem Nkutu Kimpu Joelle Lumaya Ambis Andy Mbangama Muela roger Mbungu Mwimba Kahindo P. Muyalalo Department of Gynecology and Obstetrics Cliniques Universitaires de Kinshasa Kinshasa Congo Department of Basic Sciences Faculty of Medicine University of Kinshasa Kinshasa Congo

Introduction: Pregnancies at advanced maternal age (AMA) are those occurring after the age of 35 years old. they carry a high risk of maternal-fetal morbidity and mortality, thus constituting a public health problem. Several African countries have reported an upward trend in both the age of childbirth and the frequency of women with AMA over the past 20 years. In the Democratic republic of congo (Drc), where maternal and neonatal morbidity and mortality remain very high, data on AMA pregnancies go back more than 20 years. Objective: We propose evaluating obstetrical outcomes among women in AMA in our setting and the associated factors. Methods: this retrospective cohort study will be conducted in two healthcare facilities (ESS) in Kinshasa. the study population will consist of all women who delivered a single fetus after 28 weeks of gestation between January 2012 and December 2022 (10 years) in the selected ESS. the data collected will be analyzed using r software version 4.2.0. Quantitative variables will be summarized as means with standard deviation or medians with interquartile range. Qualitative variables will be presented as proportions (%). Multivariate logistic regression will be used to determine the main maternal-fetal complications associated with AMA and predictors of obstetric outcomes. P Discussion: the high maternal and infant mortality rates in Drc are among the highest in the world. the context of maternal age has become a topic of growing interest due to its potential implications for the health of women and newborns, it is crucial to identify the risk factors associated with obstetric outcomes by identifying obstetrical outcomes associated with advanced maternal age in the Drc. Many congolese women tend to start their maternity journey at a relatively young age. However, there is also an emerging trend towards delayed childbearing, particularly in urban areas and among women with access to education and family planning services. conclusion: the re

关键词： Advanced Maternal Age Adverse Maternal and Perinatal Outcome congolese Women Kinshasa

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Multinuclear Mr and MrI study of lithium-ion cells using a variable field magnet and a fixed frequency rF probe

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Magnetic resonance Letters 2024年第1期4卷 10-20页

作者： Andrés ramírez Aguilera Florin Marica Kevin J.Sanders Md Al raihan c.Adam Dyker Gillian r.Goward Bruce *** UNB MrI centre Department of PhysicsUniversity of New BrunswickFrederictonNew BrunswickE3B 5A3Canada Department of chemistry McMaster UniversityHamiltonOntarioL8S 4L8Canada Department of chemistry University of New BrunswickFrederictonNew BrunswickE3B 5A3Canada

An exploratory multinuclear magnetic resonance(Mr)and magnetic resonance imaging(MrI)study was performed on lithium-ion battery cells with ^(7)Li,^(19)F,and ^(1)H measurements.A variable field superconducting magnet with a fixed frequency parallel-plate radiofrequency(rF)probe was employed in the *** magnetic field was changed to set the resonance frequency of each nucleus to the fixed rF probe frequency of 33.7 *** cartridge-like lithium-ion cells,with graphite anodes and LiNi_(0.5)Mn_(0.3)co_(0.2)O_(2)(NMc)cathodes,were *** cell was pristine,and one was charged to a cell voltage of 4.2 *** results presented demonstrate the great potential of the variable field magnet approach in multinuclear measurement of lithium-ion *** methods open the door for developing faster and simpler methods for detecting,quantifying,and interpreting Mr and MrI data from lithium-ion and other batteries.

关键词： Multinuclear Mr/MrI Variable field magnet Lithium-ion battery Parallel-plate rf probe

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