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Controlling Tendons to Modulate stiffness of a Planar-to-spatial Tendon-driven Continuum Manipulator Under External Uncertain Forces

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Journal of Bionic Engineering 2024年第2期21卷 821-841页

作者： Vipin Pachouri Pushparaj Mani pathak Indian Institute of Technology Roorkee Roorkee247667India

Continuum manipulators(CM)are soft and flexible manipulators with large numbers of degrees of freedom and can perform complex tasks in an unstructured ***,their deformability and compliance can deviate distal tip under uncertain external *** address this challenge,a novel tension-based control scheme has been proposed to modulate the stiffness of a tendon-driven CM,reducing the tip position errors caused by uncertain external *** minimize the tip position error,a virtual spring is positioned between the deviated and the desired tip *** proposed algorithm corrects the manipulator deviated tip position,improving tension distribution and stiffness profile,resulting in higher stiffness and better *** corresponding task space stiffness and condition numbers are also computed under different cases,indicating the effectiveness of the tension control scheme in modulating the manipulator's *** validation conducted on an in-house developed prototype confirms the practical feasibility of the proposed approach.

关键词： Continuum arm Hyper-redundant robots Variable stiffness manipulator Tension-based control Mechatronic systems

Effective data transmission through energy-efficient clustering and Fuzzy-Based Ids routing approach in WsNs

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虚拟现实与智能硬件（中英文） 2024年第1期6卷 1-16页

作者： saziya TABBAssUM Rajesh Kumar pathak Research scholar Department of Computer ScienceOPJS University ChuruSadulpurRajasthan 331303India Vice Chancellor OPJS University ChuruSadulpurRajasthan 331303India

Wireless sensor networks(WsN)gather information and sense information samples in a certain region and communicate these readings to a base station(Bs).Energy efficiency is considered a major design issue in the WsNs,and can be addressed using clustering and routing *** is sent from the source to the Bs via routing ***,these routing protocols must ensure that packets are delivered securely,guaranteeing that neither adversaries nor unauthentic individuals have access to the sent *** data transfer is intended to protect the data from illegal access,damage,or ***,in the proposed model,secure data transmission is developed in an energy-effective manner.A low-energy adaptive clustering hierarchy(LEACH)is developed to efficiently transfer the *** the intrusion detection systems(Ids),Fuzzy logic and artificial neural networks(ANNs)are ***,the nodes were randomly placed in the network and initialized to gather *** ensure fair energy dissipation between the nodes,LEACH randomly chooses cluster heads(CHs)and allocates this role to the various nodes based on a round-robin management *** intrusion-detection procedure was then utilized to determine whether intruders were present in the *** the WsN,a Fuzzy interference rule was utilized to distinguish the malicious nodes from legal ***,an ANN was employed to distinguish the harmful nodes from suspicious *** effectiveness of the proposed approach was validated using metrics that attained 97%accuracy,97%specificity,and 97%sensitivity of 95%.Thus,it was proved that the LEACH and Fuzzy-based Ids approaches are the best choices for securing data transmission in an energy-efficient manner.

关键词： Low energy adaptive clustering hierarchy(LEACH) Intrusion detection system(Ids) Wireless sensor network(WsN) Fuzzy logic and artificial neural network(ANN)

GRP7 phase separation as an interpreter of temperature cues

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Molecular Plant 2024年第6期17卷 842-844页

作者： sunita pathak Lucia C.strader department of Biology Duke UniversityDurhamNCUSA

Plants are exposed to a range of daily and seasonal temperatures and thus are required to regulate their cellular processes under fluctuating temperature *** various temperature-responsive genes,GLYCINE-RICH RNA BINdING PROTEIN7(GRP7)encodes a glycine-rich RNA-binding protein that provides freezing tolerance to plants(Carpenter et al.,1994;Kim et al.,2008)by acting as an RNA chaperone(Kwak et al.,2011).

关键词： conditions. separation

Barriers and drivers for sustainable public transportation in Indian context

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Green Energy and Intelligent Transportation 2024年第1期3卷 32-45页

作者： Gopi R dev Vrat pathak saurabh Pratap Lakshay department of Mechanical Engineering Indian Institute of TechnologyVaranasiIndia

Rising negative externalities,including greenhouse gas emissions,climate change,and environmental pollution,shows the need for sustainable and environmentally friendly modes of *** zero-emission,environmentally friendly electric buses in public transportation systems can be an effective solution for both developing and developed countries,including *** the Indian government is making numerous efforts to promote electric buses in commercial and public transportation systems,it faces several formidable *** research objective is to analyze and evaluate the primary factors influencing the adoption and usage of electric buses in the Indian public transportation system,within the limited available resources.A survey questionnaire is prepared with several perceptual subjects for the key perceived *** empirical analysis using structural Equation Modeling(sEM)is then performed to identify the critical *** result of this study demonstrates that the infrastructural barriers substantially impact the adoption and utilization of electric ***,the study provides critical insights and managerial implications for decision-makers.

关键词： Electric bus adoption Public transportation system Barriers structural equation modelling Exploratory factor analysis Confirmatory factor analysis

Flexible ultra-thin super-resolution endoscopy

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science China(Physics,Mechanics & Astronomy) 2024年第3期67卷 171-172页

作者： George s.d.Gordon department of Electrical and Electronic Engineering University of NottinghamNottingham NG7 2RDUK

In recent years, multimode fiber(MMF) has become an important tool for high-resolution endoscopic imaging in narrow channels(e.g., in the brain via needles or inside blood vessels) due to its high mode density and fine diameter, typically stacle to widespread deployment in applications is that realistic perturbations, including bending, twisting and changes in temperature, cause unacceptable image degradation.

关键词： fiber resolution typically

Generalized polynomial chaos expansion by reanalysis using static condensation based on substructuring

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Applied Mathematics and Mechanics(English Edition) 2024年第5期45卷 819-836页

作者： d.LEE s.CHANG J.LEE department of Automotive Engineering Hanyang UniversitySeoul 04763Republic of Korea school of Mechanical Engineering Chungnam National UniversityDaejeon 34134Republic of Korea department of Mechanical Robotics and Energy EngineeringDongguk UniversitySeoul 04620Republic of Korea

This paper presents a new computational method for forward uncertainty quantification(UQ)analyses on large-scale structural systems in the presence of arbitrary and dependent random *** method consists of a generalized polynomial chaos expansion(GPCE)for statistical moment and reliability analyses associated with the stochastic output and a static reanalysis method to generate the input-output data *** the reanalysis,we employ substructuring for a structure to isolate its local regions that vary due to random *** allows for avoiding repeated computations of invariant substructures while generating the input-output data *** substructuring with static condensation further improves the computational efficiency of the reanalysis without losing ***,the GPCE with the static reanalysis method can achieve significant computational saving,thus mitigating the curse of dimensionality to some degree for UQ under high-dimensional *** numerical results obtained from a simple structure indicate that the proposed method for UQ produces accurate solutions more efficiently than the GPCE using full finite element analyses(FEAs).We also demonstrate the efficiency and scalability of the proposed method by executing UQ for a large-scale wing-box structure under ten-dimensional(all-dependent)random inputs.

关键词： forward uncertainty quantification(UQ) generalized polynomial chaos expansion(GPCE) static reanalysis method static condensation substructuring

Common Ground for India and China

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中印对话（英文版） 2024年第1期38卷 18-21页

作者： sriparna pathak China studiesat O.P.Jindal Global University India

To expand economic cooperation between India and China,the existing joint working groups and dialogue mechanisms need to be leveraged to propel more fruitful engagements in 2024 and beyond.

关键词： India fruitful beyond

Impact of pre- and peri-operative risk factors on length of stay and hospital readmission following minimally-invasive partial nephrectomy

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Asian Journal of Urology 2024年第1期11卷 72-79页

作者： Vanessa A.Lukas Rahul dutta Ashok K.Hemal Matvey Tsivian Timothy E.Craven Nicholas A.deebel david d.Thiel Ram Anil pathak Brigham and Women's Hospital Division of UrologyDepartment of Surgery75 Francis StreetBostonMAUSA Atrium Health Wake Forest Baptist Medical Center Department of Urology1 Medical Center BlvdWinston-SalemNCUSA Mayo Clinic Florida Department of Urology4500 San Pablo RoadJacksonvilleFLUSA

Objective:We conducted an analysis of the American College of surgeons National surgical Quality Improvement Program database for minimally-invasive partial nephrectomy cases reported with the goal to identify pre-and peri-operative variables associated with length of stay(LOs)greater than 3 days and readmission within 30 ***:Records from 2008 to 2018 for“laparoscopy,surgical;partial nephrectomy”for prolonged LOs and readmission cohorts were *** analysis with Chi-square,t-tests,and multivariable logistic regression analysis with odds ratios(ORs),p-values,and 95%confidence intervals assessed statistical ***:Totally,20306 records for LOs greater than 3 days and 15854 for readmission within 30 days were *** and multivariable analysis exhibited similar *** LOs greater than 3 days,undergoing non-elective surgery(OR=5.247),transfusion of greater than four units within 72 h prior to surgery(OR=5.072),pre-operative renal failure or dialysis(OR=2.941),and poor pre-operative functional status(OR=2.540)exhibited the strongest statistically significant *** hospital readmission within 30 days,loss in body weight greater than 10%in 6 months prior to surgery(OR=2.227)and bleeding disorders(OR=2.081)exhibited strongest statistically significant ***:Multiple pre-and peri-operative risk factors are independently associated with prolonged LOs and hospital readmission within 30 days of surgery using the American College of surgeons National surgical Quality Improvement Program *** the risks factors that can potentially be improved prior to minimally-invasive partial nephrectomy is crucial to informing patient selection,optimization strategies,and patient education.

关键词： Minimally-invasive partial nephrectomy The American College of surgeons National surgical Quality Improvement Program Lengthof stay Hospital readmission

Ion heat transport in electron cyclotron resonance heated L-mode plasma on the T-10 tokamak

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Plasma science and Technology 2024年第4期26卷 52-60页

作者： V.A.KRUPIN M.R.NURGALIEV A.R.NEMETs I.A.ZEMTsOV s.d.sUNTsOV T.B.MYALTON d.s.sERGEEV N.A.sOLOVEV d.V.sARYCHEV d.V.RYJAKOV s.N.TUGARINOV N.N.NAUMENKO National Research Centre“Kurchatov Institute” Moscow 123182Russia Bauman Moscow state Technical University Moscow 105005Russia Institution“Project Center ITER” Moscow 123098Russia JsC“sOLAR” Minsk 220034Belarus

Anomalous ion heat transport is analyzed in the T-10 tokamak plasma heated with electron cyclotron resonance heating(ECRH) in second-harmonic extra-ordinary mode. Predictive modeling with empirical scaling for Ohmical heat conductivity shows that in ECRH plasmas the calculated ion temperature could be overestimated, so an increase of anomalous ion heat transport is required. To study this effect two scans are presented: over the EC resonance position and over the ECRH power. The EC resonance position varies from the high-field side to the low-field side by variation of the toroidal magnetic field. The scan over the heating power is presented with on-axis and mixed ECRH regimes. discharges with high anomalous ion heat transport are obtained in all considered regimes. In these discharges the power balance ion heat conductivity exceeds the neoclassical level by up to 10 times. The high ion heat transport regimes are distinguished by three parameters: the ratio Te/Ti, the normalized electron density gradient R/■, and the ion–ion collisionality νii~*. The combination of high Te/Ti, high νii~*, and R/■=6-10 results in values of normalized anomalous ion heat fluxes up to 10 times higher than in the low transport scenario.

关键词： tokamak L-mode electron cyclotron resonance heating ion heat transport