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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 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

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Nonlinear phenomena in vibrations of embedded carbon nanotubes conveying viscous fluid

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Nanotechnology and Precision Engineering 2024年第1期7卷 44-54页

作者： reza Ebrahimi Mechanical Engineering Faculty of EngineeringYasouj UniversityYasouj 75918-74831Iran

Various nonlinear phenomena such as bifurcations and chaos in the responses of carbon nanotubes(CNTs)are recognized as being major contributors to the inaccuracy and instability of nanoscale mechanical systems.Therefore,the main purpose of this paper is to predict the nonlinear dynamic behavior of a CNT conveying viscousﬂuid and supported on a nonlinear elastic foundation.The proposed model is based on nonlocal Euler–Bernoulli beam theory.The Galerkin method and perturbation analysis are used to discretize the partial differential equation of motion and obtain the frequency-response equation,respectively.A detailed parametric study is reported into how the nonlocal parameter,foundation coefﬁcients,ﬂuid viscosity,and amplitude and frequency of the external force inﬂuence the nonlinear dynamics of the system.Subharmonic,quasi-periodic,and chaotic behaviors and hardening nonlinearity are revealed by means of the vibration time histories,frequency-response curves,bifurcation diagrams,phase portraits,power spectra,and Poincarémaps.Also,the results show that it is possible to eliminate irregular motion in the whole range of external force amplitude by selecting appropriate parameters.

关键词： Nonlinear vibration Carbon nanotubes Nonlocal effect Viscousﬂuid Nonlinear elastic medium

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Resilence Control of DC Microgrid Integrated with Multi-Nanogrids Considering Connected-Islanded States

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CSEE Journal of Power and Energy Systems 2024年第2期10卷 786-796页

作者： Hossien Faraji reza Hemmati Pierluigi Siano Department of Electrical Engineering Amirkabir University of TechnologyTehranIran Department of Electrical Engineering Kermanshah University of TechnologyKermanshahIran Department of Management&Innovation Systems University of Salernoand also with the Department of Electrical and Electronic Engineering ScienceUniversity of JohannesburgJohannesburg 2006South Africa

In this paper, a DC microgrid (DCMG) integrated with a set of nano-grids (NG) is studied. DCMG exchanges predetermined active and reactive power with the upstream network. DCMG and NGs are coordinately controlled and managed in such a way the exchanged P-Q power with external grid are kept on scheduled level following all events and operating conditions. The proposed control system, in addition to the ability of mutual support between DCMG and NGs, makes NGs support each other in critical situations. On the other hand, in all operating conditions, DCMG not only feeds three-phase loads with time-varying active and reactive power on the grid side but also injects constant active power into the grid. During events, NGs support each other, NGs support DCMG, and DCMG supports NGs. Such control strategies are realized by the proposed control method to increase resilience of the system. For these purposes, all resources and loads in DCMG and NGs are equipped with individual controllers. Then, a central control unit analyzes, monitors, and regularizes performance of individual controllers in DCMG and NGs. Nonlinear simulations show the proposed model can effectively control DCMG and NGs under normal and critical conditions.

关键词： Control system DC microgrid nanogrid resilience

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Numerical investigation of supercontinuum generation and optical frequency combs in Si N-based PCF with high nonlinear coefficient

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Optoelectronics Letters 2024年第3期20卷 163-170页

作者： Mohammad reza Alizadeh Mahmood Seifouri Saeed Olyaee Faculty of Electrical Engineering Shahid Rajaee Teacher Training UniversityTehranIran Nano-photonics and Optoelectronics Research Laboratory(NORLab) Shahid Rajaee Teacher Training UniversityTehranIran

In this paper, a photonic crystal fiber(PCF) with a dispersion-engineered and high nonlinear coefficient has been designed for supercontinuum generation(SCG) and frequency comb generation(FCG). The proposed PCF has a Si_(3)N_(4) rod in the core. This rod provides more optical confinement in the core by increasing the refractive index of the core. This high confinement reduces the effective mode area of PCF and thus increases the nonlinear coefficient.

关键词： optical fiber nonlinear

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Movement Trend Alterations in the Periaqueductal Gray(PAG)-Employed Ratbot Navigation Are Correlated with Stimulation Parameters

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Journal of Bionic Engineering 2024年第2期21卷 866-876页

作者： Sina Khajei Abed Khorasani Mohammad reza Afarinesh Vahid Sheibani Neuroscience Research Center Institute of NeuropharmacologyKerman University of Medical SciencesKerman***Iran Cognitive Neuroscience Research Center Institute of NeuropharmacologyKerman University of Medical SciencesKerman***Iran

In previous studies,Periaqueductal Gray(PAG)stimulation was used to stop ratbots from moving.Due to the homology between the PAG and the intercollicular nucleus,which has been used for forward movement in birds,we investigated the possibility of PAG application to induce forward locomotion for the first time.Using a corridor maze,the traveled distances via PAG electrical stimulation were examined in nine Wistar male rats during three sessions.A custom-designed stimulator was developed to apply the stimulation.The results showed reductions in responses to stimulation over time.Accordingly,the traveled distances had negative slopes during the consecutive trials(in 8 out of the 9 rats),and the slope mean was significantly different from zero.There was a strong correlation between the stimulation parameters(electric Charge per Phase(CPP)and the Number of Pulses(NP))and the observed slopes.The negative Movement Slopes(MS)were highly correlated with the CPP and the NP,as the Pearson's linear correlation coefficients were−0.87 and−0.79,respectively.The MS-CPP coefficients of determination(R-squared)were also between 0.76 and 0.95.In addition,the MS-NP coefficients of determination were between 0.63 and 0.87.Thus,it is concluded that the electrical stimulation parameters influence the behavioral outcomes directly.Furthermore,the PAG area may be considered a suitable candidate for forward locomotion control in the future if the area is harnessed effectively to prevent undesirable chaotic behaviors.

关键词： Periaqueductal Gray(PAG) Navigation Ratbot Animal-robot Forward locomotion Movement slope

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Cancer cell cycle heterogeneity as a critical determinant of therapeutic resistance

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Genes & Diseases 2024年第1期11卷 189-204页

作者： Ebrahim H.Maleki Ahmad reza Bahrami Maryam M.Matin Department of Biology Faculty of ScienceFerdowsi University of Mashhad*** MashhadIran Jagiellonian Centre for Experimental Therapeutics(JCET) Jagiellonian University31-007 KrakowPoland Doctoral School of Exact and Natural Sciences Jagiellonian University30-348 KrakowPoland Industrial Biotechnology Research Group Institute of BiotechnologyFerdowsi University of Mashhad*** MashhadIran Novel Diagnostics and Therapeutics Research Group Institute of BiotechnologyFerdowsi University of Mashhad***MashhadIran Stem Cell and Regenerative Medicine Research Group Iranian Academic Center for EducationCulture and Research(ACECR)Khorasan Razavi Branch917751376 MashhadIran

Intra-tumor heterogeneity is now arguably one of the most-studied topics in tumor biology,as it represents a major obstacle to effective cancer treatment.Since tumor cells are highly diverse at genetic,epigenetic,and phenotypic levels,intra-tumor heterogeneity can be assumed as an important contributing factor to the nullification of chemotherapeutic effects,and recurrence of the tumor.Based on the role of heterogeneous subpopulations of cancer cells with varying cell-cycle dynamics and behavior during cancer progression and treatment;herein,we aim to establish a comprehensive definition for adaptation of neoplastic cells against therapy.We discuss two parallel and yet distinct subpopulations of tumor cells that play pivotal roles in reducing the effects of chemotherapy:"resistant"and"tolerant"popula-tions.Furthermore,this review also highlights the impact of the quiescent phase of the cell cycle as a survival mechanism for cancer cells.Beyond understanding the mechanisms under-lying the quiescence,it provides an insightful perspective on cancer stem cells(CsCs)and their dual and intertwined functions based on their cell cycle state in response to treatment.More-over,CSCs,epithelial-mesenchymal transformed cells,circulating tumor cells(CTCs),and disseminated tumor cells(DTCs),which are mostly in a quiescent state of the cell cycle are proved to have multiple biological links and can be implicated in our viewpoint of cell cycle heterogeneity in tumors.Overall,increasing our knowledge of cell cycle heterogeneity is a key to identifying new therapeutic solutions,and this emerging concept may provide us with new opportunities to prevent the dreadful cancer recurrence.

关键词： Cancer stem cells(CSCs) Carcinoma Cell cycle heterogeneity Quiescence Therapy resistance Therapy tolerance Tumor dormancy

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Characteristics of turbulent flow in 3-D pools in the presence of submerged rigid vegetation in channel bed

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Journal of Hydrodynamics 2024年第1期36卷 158-169页

作者： Kourosh Nosrati Hossein Afzalimehr Jueyi Sui Hamid reza Reisifar Natural Disasters Prevention Research Center Faculty of Civil EngineeringIran University of Science and TechnologyTehranIran School of Engineering University of Northern British ColumbiaPrince GeorgeCanada

In this study,the interaction between 3-D bedforms and submerged rigid vegetation has been investigated.Various laboratory experiments were conducted to study the distribution of flow velocity,Reynolds shear stress,turbulent kinetic energy,and skewness coefficients for a constant density of vegetation.Results showed that the velocity profile in the pool section deviates from those in the upstream section of the pool.It has been found that the dip parameter varied between 0.6H and 0.9H depending on various factors including bed roughness,vegetation distribution,and pool entrance/exit slopes.However,scattered vegetation in the pool and differences in slopes created non-uniform flow conditions.Also,in the wake region behind each vegetated element,flow velocity reduced significantly,and small-scale eddies are formed,causing increased perturbations.By decreasing the entrance slope and bed roughness,relatively uniform flow and weaker turbulence was resulted,but the random distribution of vegetated elements counteracted this balance and intensified turbulence.With the decrease in the pool entrance slope,the contribution of sweep event decreased and the contribution of ejection event increased.

关键词： Submerged rigid vegetation 3-D pool Reynolds shear stress skewness coefficients

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Efficiency improvement by using metal–insulator‑semiconductor structure in InGaN/GaN micro‑light‑emitting diodes

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Frontiers of Optoelectronics 2024年第1期17卷 77-84页

作者： Jian Yin David Hwang Hossein Zamani Siboni Ehsanollah Fathi reza Chaji Dayan Ban Department of Electrical and Computer Engineering Waterloo Institute NanotechnologyUniversity of WaterlooWaterlooON N2L 3G1Canada Vuereal InC. 440 Philip StreetUnit 100WaterlooON N2L 5R9Canada

InGaN/GaN micro-light-emitting diodes(micro-LEDs)with a metal–insulator-semiconductor(MIS)structure on the sidewall are proposed to improve efficiency.In this MIS structure,a sidewall electrode is deposited on the insulating layer-coated sidewall of the device mesa between a cathode on the bottom and an anode on the top.Electroluminescence(EL)measurements of fabricated devices with a mesa diameter of 10μm show that the application of negative biases on the sidewall electrode can increase the device external quantum efficiency(EQE).In contrast,the application of positive biases can decrease the EQE.The band structure analysis reveals that the EQE is impacted because the application of sidewall electric fields manipulates the local surface electron density along the mesa sidewall and thus controls surface Shockley–Read–Hall(SRH)recombination.Two suggested strategies,reducing insulator layer thickness and exploring alternative materials,can be implemented to further improve the EQE of MIS micro-LEDs in future fabrication.

关键词： Micro-LED GaN EQE improvement Micro-fabrication

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Spatially resolved investigation of flame particle interaction in a two dimensional model packed bed

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Particuology 2024年第2期85卷 167-185页

作者： Mohammadhassan Khodsiani reza Namdar Fathollah Varnik Frank Beyrau Benoit Fond Institute of Fluid Dynamics and Thermodynamics Universitaetsplatz 2Magdeburg39106Saxony-AnhaltGermany Interdisciplinary Centre for Advanced Materials Simulation(ICAMS) Ruhr-University BochumBochum44801Germany ONERA The French Aerospace Lab Department of AerodynamicsAeroelasticity and Acoustics(DAAA)Paris-Saclay UniversityMeudon92190France

This study investigates the interaction between a premixed methane-air flame and particles inside a model packed bed.The opacity of the spherical packed beds to visible light poses a major barrier to the implementation of highly resolved optical diagnostics,so that no detailed experimental data were so far available for the validation of numerical simulation.Here,a two-dimensional cylindrical packed bed design is set up,which enables direct line-of-sight optical measurements without loss of spatial reso-lution over the fluid region between the particles.In this study,the case of cold metallic cylindrical particles(T=377 K)relevant to start-up of a reactor is investigated using internal particle cooling,which also allows cylinder specific heat transfer rate measurements by differential temperature measurements on the coolant streams.The two dimensional assumption is first verified by measuring the inflow ve-locity and cylinder temperature profile along the cylinders.Chemiluminescence imaging is then per-formed using a telecentric lens to observe the position and geometry of the two-dimensional flame front with respect to the surrounding cylinders without loss of resolution.Simultaneously,the cylinder-specific flame to cylinder heat transfer rates and cylinder surface temperature are measured.As the flame is closely surrounded by the three cooled cylinders,intense heat transfer is observed in this region corresponding to 25±2.5%of the flame thermal power.Flames were stabilised at different positions depending on inflow velocity and equivalence ratio,and a direct correlation between flame to cylinder stand-off distance and the heat transfer rate normalised to the flame thermal power was found for both top and side cylinders.Also,sidewall quenching distances to the curved cylinder surfaces were evaluated,and seem to be influenced by the presence of a warm recirculation zone behind the cylinders.This investigation provides fully resolved flame front position and heat transfer rates for a known geometry and cylinder th

关键词： Packed beds Flame-particle interaction Optical diagnostics Sidewall quenching

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Comparative CFD-DEM study of flow regimes in spout-fluid beds

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Particuology 2024年第2期85卷 323-334页

作者： Hamed Hoorijani Behrad Esgandari reza Zarghami Rahmat Sotudeh-Gharebagh Navid Mostoufi Multiphase Systems Research Lab School of Chemical EngineeringCollege of EngineeringUniversity of TehranP.O.Box 11155-4563TehranIran Department of Particulate Flow Modelling Johannes Kepler UniversityAltenbergerstr.694040LinzAustria

Spout-fluid beds are unique systems that require thorough study prior to their industrial application.In this study,the hydrodynamics of spout-fluid beds were investigated using 3D computational fluid dy-namics coupled with discrete element method(CFD-DEM).Three flow regimes,including jet-in-fluidized bed,spouting-with-aeration,and intermediate/spout-fluidization were studied,and the particle mixing was quantified in these regimes using the Lacey mixing index.The results showed that both axial and lateral mixing rates are better in jet-in-fluidized bed and the spouting-with-aeration flow regimes,with the axial mixing being superior to the lateral in all flow regimes.Examining the diffusivity coefficient revealed that mixing in the jet-in-fluidized bed flow regime is better due to the formation and eruption of bubbles in the annulus.Additionally,the granular temperature was analyzed in all flow regimes,and higher particle velocity fluctuations were observed in the spouting-with-aeration and the jet-in-fluidized bed flow regimes due to the higher spout gas velocity and formation of bubbles in the annulus.This study provides valuable insights into the hydrodynamics of spout-fluid beds in different flow regimes,which can aid in the design and optimization of spout-fluid bed reactors for various industrial applications.

关键词： Flow regime Mixing Diffusivity CFD-DEM Hydrodynamics Spout-fluid bed

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