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Kinematic analysis of flexible bipedal robotic systems

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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 researchers.What distinguishes the present research from similar works is the consideration of flexibility in the constituent links of this type of robotic systems.This 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 considerably.Moreover,the human leg bones that are involved in walking are supported by viscoelastic muscles and ligaments.Therefore,for achieving more exact results,it is essential to model the robot links with viscoelastic properties.To 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 motion.The 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 force.The 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 goal.To 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 problem.By solving this problem,the suitable initial conditions that are necessary for the passive gait of this bipedal robot on a sloping surface are determined.The 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 robotic systems are also studied.The findings o

关键词： bipedal robot flexible link swing phase transient phase eigenvalue problem Kelvin-Voigt coefficient

An Efficient Modelling of Oversampling with Optimal Deep Learning Enabled Anomaly Detection in streaming Data

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China Communications 2024年第5期21卷 249-260页

作者： r.rajakumar s.sathiya Devi srinivasa ramanujan Centre SASTRA Deemed UniversityKumbakonamTamil Nadu 612001India University College of Engineering BIT CampusAnna UniversityTiruchirappalli 620024India

recently,anomaly detection(AD)in streaming data gained significant attention among research communities due to its applicability in finance,business,healthcare,education,etc.The recent developments of deep learning(DL)models find helpful in the detection and classification of anomalies.This article designs an oversampling with an optimal deep learning-based streaming data classification(Os-ODLsDC)model.The aim of the OsODLsDC model is to recognize and classify the presence of anomalies in the streaming data.The proposed Os-ODLsDC model initially undergoes preprocessing step.since streaming data is unbalanced,support vector machine(sVM)-synthetic Minority Over-sampling Technique(sVM-sMOTE)is applied for oversampling process.Besides,the Os-ODLsDC model employs bidirectional long short-term memory(Bi LsTM)for AD and classification.Finally,the root means square propagation(rMsProp)optimizer is applied for optimal hyperparameter tuning of the Bi LsTM model.For ensuring the promising performance of the Os-ODLsDC model,a wide-ranging experimental analysis is performed using three benchmark datasets such as CICIDs 2018,KDD-Cup 1999,and NsL-KDD datasets.

关键词： anomaly detection deep learning hyperparameter optimization oversampling sMOTE streaming data

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 industry.The development of geopolymer structures provides a way of producing 100%cement-free construction.In this research work,a novel and simple way of deriving nano particles from waste fly ash particles is promoted.The effect of adding the synthesized nano fly ash particles as a filler medium in geopolymer mortars was investigated by considering strength and durability properties.Parameter 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 content.From 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 medium.This 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

Managing type 2 diabetes:targeting a microbial enzyme as a novel treatment option

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signal Transduction and Targeted Therapy 2024年第1期9卷 3-5页

作者： Anikó Keller-Pintér Tamás Korcsmáros Tibor Vellai Department of Biochemistry Albert Szent-Györgyi Medical SchoolUniversity of SzegedSzeged6720Hungary Department of Metabolism Digestion and ReproductionImperial College LondonLondonW120NNUK Quadram Institute Bioscience Norwich Research ParkNorwichNR47UQUK Department of Genetics Eötvös Loránd University(ELTE)Budapest1117Hungary Hungarian research Network HUN-rEN-ELTE Genetics research Group Budapest1117Hungary

In a recent science article,Wang and colleagues showed that the dipeptidyl peptidase 4(DPP4)enzyme produced by the gut microbiota can interfere with the effect of host glucagon-like peptide-1(GLP-1)involved in stimulating insulin secretion,and the specific inhibitor of microbial DPP4(mDPP4),combined with clinical inhibitors of host DPP4 isoenzymes,further promotes blood glucose homeostasis.1 These results point out why certain patients respond inadequately to an antidiabetic medication.

关键词： homeostasis stimulating clinical

Limited impacts of occasional tillage on dry aggregate size distribution and soil carbon and nitrogen fractions in semi-arid drylands

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International soil and Water Conservation research 2024年第1期12卷 96-106页

作者： Wooiklee s.Paye Vesh r.Thapa rajan Ghimire New Mexico state University Agricultural Science CenterClovisNM88101USA New Mexico state University Department of Plant and Environmental SciencesLas CrucesNM88003USA

Tillage management that minimizes the frequency and intensity of soil disturbance can increase soil carbon(C)and nitrogen(N)sequestration and improve the resilience of dryland cropping systems,yet the impact of occasional disturbance on soil aggregate formation and the soil organic carbon(sOC)storage within aggregates has not been studied well.We evaluated the effect of four tillage management practices on soil dry aggregate size distribution,aggregate-protected C and N,mineral-associated organic matter carbon(MAOM-C),particulate organic matter carbon(POM-C),and corn(Zea mays L.)and sorghum(sorghum bicolor(L.)Moench)yields in a semi-arid dryland cropping system.Treatments included conventional tillage(CT),strip-tillage(sT),no-tillage(NT),and occasional tillage(OT)management in a corn-sorghum rotation.soil macro-aggregates were 51-54%greater under sT,NT,and OT,while small and micro-aggregates were greater in CT.Conventional tillage reduced soil aggregate-associated C by 28-31%in macro-aggregates and 47-53%in small aggregates at 26 months(M)sampling compared to sT,NT,and OT.In clay+silt fraction,CT had 14-16%,21-26%,and 36-43%less sOC at 7,14,and 26M samplings,respectively,than sT,NT,and OT.Aggregate associated N was generally similar under sT,NT,and OT,which was greater on average than CT.soil MOAM-C and POM-C under sT,NT,and OT were generally greater than respective sOC fractions under CT at 19 and 26 M after OT implementation.Corn and sorghum yields were similar among tillage systems in 2020,but greater under sT,NT,and OT than CT in 2021.Our results suggest that while frequent intensive tillage can lower sOC and N storage,a single stubble mulch occasional tillage after several years of NT does not lead to soil C and N losses and soil structural instability in semi-arid drylands.

关键词： Conventional tillage Occasional tillage Aggregate associated carbon Mineral associated organic matter carbon(MAOM-C) Particulate organic matter carbon(POM-C)

ranking environmental and edaphic attributes driving soil microbial community structure and activity with special attention to spatial and temporal scales

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mLife 2024年第1期3卷 21-41页

作者： Vadakattu V.s.r.Gupta James M.Tiedje CsIrO Agriculture&Food UrrbraeSouth AustraliaAustralia Centre for Microbial Ecology Michigan State UniversityEast LansingMichiganUSA

The incredibly complex soil microbial communities at small scales make their analysis and identification of reasons for the observed structures challenging.Microbial community structure is mainly a result of the inoculum(dispersal),the selective advantages of those organisms under the habitat-based environmental attributes,and the ability of those colonizers to sustain themselves over time.since soil is protective,and its microbial inhabitants have long adapted to varied soil conditions,significant portions of the soil microbial community structure are likely stable.Hence,a substantial portion of the community will not correlate to often measured soil attributes.We suggest that the drivers be ranked on the basis of their importance to the fundamental needs of the microbes:(i)those that supply energy,i.e.,organic carbon and electron acceptors;(i)environmental effectors or stressors,i.e.,pH,salt,drought,and toxic chemicals;(ii)macro-organism associations,i.e.,plants and their seasonality,animals and their fecal matter,and soil fauna;and(iv)nutrients,in order,N,P,and probably of lesser importance,other micronutrients,and metals.The relevance of drivers also varies with spatial and time scales,for example,aggregate to field to regional,and persistent to dynamic populations to transcripts,and with the extent of phylogenetic difference,hence phenotypic differences in organismal groups.We present a summary matrix to provide guidance on which drivers are important for particular studies,with special emphasis on a wide range of spatial and temporal scales,and illustrate this with genomic and population(rrNA gene)data from selected studies.

关键词： abundance community structure diversity functional microbiome microorganisms

Provenance and depositional setting of the Late MiocenePleistocene clastic sediments in the eastern Arabian Peninsula and western Iraq using rare earth elements geochemistry

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Acta Geochimica 2024年第2期43卷 399-410页

作者： salih M.Awadh Zinah s.Al-Ankaz Mohanad r.A.Al-Owaidi John s.Armstrong-Altrin Department of Geology College of ScienceUniversity of BaghdadBaghdadIraq Department of Geology College of ScienceUniversity of WasitWasit 52011Iraq Department of Applied Geology College of ScienceUniversity of BabylonBabylon 51001Iraq Unidad de Procesos Oceanicos y Costeros Instituto de Ciencias del Mar y LimnologíaUniversidad Nacional Autonoma de MexicoCiudad Universitaria04510 Mexico CityCDMXMexico Department of Marine sciences Bharathidasan UniversityTiruchirapalliTamil Nadu 620024India

The sandstones of the Late miocene–Pliocene Dibdibba Formation in the Najaf–Karbala Plateau and Basra were examined to determine their source rocks and origin. The rare earth elements(rEE) and trace elements(sc, Co, V, and Th) concentrations in these sandstones revealed that they likely derived from a single source. The steep light rare earth elements(LrEE) and flat, heavy rare earth element(HrEE) patterns, negative Eu anomaly, and high ΣrEE contents in sandstones suggest its derivation from a suggests that a passive continental margin environment and originated from felsic source rocks. The average concentration of ΣrEE is 93.5 ppm, which is lower than that of the average crustal compositions like Upper Continental Crust and Post Archean Australian shale. The higher proportion of LrEE compared to HrEE implies that these sandstones were recycled and derived from a distal source. The Th/Co, Th/sc, La/sc, La/Co, Eu/Eu*and(La/Lu)cn elemental ratios indicated that these Late Miocene–Pliocene sandstones were derived from felsic rocks located in the marginal region of the Arabian shield.

关键词： rEE Dibdibba formation Clastic sediments Passive continental margin

Mathematical modelling of ball and plate system with experimental and correlation function-based model validation

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Control Theory and Technology 2024年第2期22卷 326-341页

作者： T.r.Dil Kumar s.J.Mija Department of Electrical Engineering National Institute of Technology CalicutKozhikode673601KeralaIndia

The ball and plate system is an inherently nonlinear under actuated benchmark system used for validating the performance of various control schemes. A mathematical model depicting the dynamics close to that of the system is very much required for such a test bed. In this correspondence, the complete nonlinear model, a simplified nonlinear model, and a linearized model of the ball and plate system are developed. The system comprises a ball and plate mechanism and a rotary servo unit. The ball and plate mechanism is modelled using the Euler–Lagrange method, whereas the rotary servo subsystem is modelled from the first principles. The nonlinear model of the combined system is developed by including the dynamics of the servo motor with gear and rolling resistance between the ball and the plate. The simplified nonlinear model of the system is obtained with suitable assumptions. The model is linearized around the operating point using the Jacobian. The validity of the developed models is investigated through correlation function analysis. The open-loop response of the three models, viz., nonlinear, simplified nonlinear, and linearized models, is analyzed in the MATLAB/simulink platform. since the open-loop system is unstable, the experimental validation of the model is performed with a double-loop PsO (particle swarm optimization) PID control scheme.

关键词： Ball and plate system Correlation function Model validation Particle swarm optimization(PsO) PsO PID controller

single-atom Pt on carbon nanotubes for selective electrocatalysis

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Carbon Energy 2024年第1期6卷 63-71页

作者： samuel s.Hardisty Xiaoqian Lin Anthony r.J.Kucernak David Zitoun Department of Chemistry Bar Ilan Institute of Nanotechnology and Advanced Materials(BINA)Bar Ilan UniversityRamat GanIsrael Department of Chemistry Molecular Science Research HubImperial College LondonLondonUK

Utilizing supported single atoms as catalysts presents an opportunity to reduce the usage of critical raw materials such as platinum,which are essential for electrochemical reactions such as hydrogen oxidation reaction(HOr).Herein,we describe the synthesis of a Pt single electrocatalyst inside single-walled carbon nanotubes(sWCNTs)via a redox reaction.Characterizations via electron microscopy,X-ray photoelectron microscopy,and X-ray absorption spectroscopy show the single-atom nature of the Pt.The electrochemical behavior of the sample to hydrogen and oxygen was investigated using the advanced floating electrode technique,which minimizes mass transport limitations and gives a thorough insight into the activity of the electrocatalyst.The single-atom samples showed higher HOr activity than state-of-the-art 30%Pt/C while almost no oxygen reduction reaction activity in the proton exchange membrane fuel cell operating range.The selective activity toward HOr arose as the main fingerprint of the catalyst confinement in the sWCNTs.

关键词： confinement electrocatalysis hydrogen platinum single atom catalysts