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Overview of trajec.ory planning and c.ntrol methods for c.b.e-driven rob.ts

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Kongzhi yu Juec./c.ntrol and Dec.sion 2024年第9期39卷 2817-2832页

作者： Qian S. Li c.-Q. Zhou b. Zi b. Sc.ool of Mec.anic.l Engineering Hefei University of Technology Hefei 230009 China

c.b.e-driven rob.ts are driven b. flexib.e c.b.es instead of traditional rigid links, signific.ntly reduc.ng the weight of the mec.anism and the inertia of the moving c.mponents, b.eaking through the limitations of the hinge angle and telesc.pic.length, and offering ob.ious advantages in terms of workspac., load-to-weight ratio, and adaptab.lity. The development of c.b.e-driven rob.ts represents a lightweight design c.nc.pt and a development trend of human-rob.t c.operation. In this review, the representative theories, typic.l applic.tions and researc. advanc.ments of c.b.e-driven rob.ts are disc.ssed in areas suc. as motion planning, trajec.ory trac.ing c.ntrol, tension distrib.tion strategies, vib.ation suppression and fault-tolerant c.ntrol. The design approac.es and advantages of various motion planning and c.ntrol methods are analyzed and the c.allenges in eac. area are c.nc.uded. Finally, the development trends for motion planning and c.ntrol methods of c.b.e-driven rob.ts are summarized in three aspec.s, inc.uding researc. on autonomous rec.nfiguration, variab.e stiffness c.ntrol and natural interac.ion and human-rob.t c.operative c.ntrol. © 2024 Northeast University. All rights reserved.

关键词： c.b.e-driven rob.ts motion c.ntrol motion planning rec.nfiguration strategy tension distrib.tion vib.ation suppression

b.ac. hole shadows in Einstein-b.l-Rob.nson gravity

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c.inese Physic. c 2024年第5期48卷 272-283页

作者： b.Hamil b.c.Lütfüoğlu Lab.ratoire de Physique Mathématique et Sub.tomique Facultédes Sciences ExactesUniversitéConstantine 1ConstantineAlgeria Department of Physic. University of Hradec KrálovéRokitanského 6250003 Hradec KrálovéCzechia

Gravity models given b. higher-order sc.lar c.rvature c.rrec.ions are b.lieved to b.ar important c.nsequenc.s. Einstein-b.l-Rob.nson (Eb.) gravity with quartic.c.rvature modific.tion motivated Sajadi et al. to explore static.spheric.lly symmetric.b.ac. hole solutions using perturb.tive methods. In this study, inspired b. their work, we investigate AdS b.ac. hole shadows in Eb. gravity and demonstrate how the gravity parameter alters the energy emission rate. Finally, we address the same prob.em in the presenc. of plasma, b.c.use the b.ac. holes are thought to b. surrounded b. a medium that c.anges the geodesic.of photons.

关键词： b.ac. hole shadows Einstein-b.l-Rob.nson gravity plasma

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Need for operational simplic.ty and timely disb.rsal of b.nefits—a qualitative exploration of the implementation of a direc. b.nefit transfer sc.eme for persons with tub.rc.losis in India

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贫困所致传染病(英文) 2024年第3期13卷 1-15页

作者： Mohan Malu Thangaraj Jeromie W. V. Pandey Sumit Priya G. Sri Lakshmi Arunac.alam Sivavallinathan Sharma Rahul Shewade Hemant Deepak Aishwarya b. Afeeq K. Khatoon Afsana Gokulvijay b. Sireesha Gude c.andra Kavita Nandhakumar S. Samuel Princ. Viswanathan c. Nanditha Shanmugasundaram Devika Rao Raghuram Murhekar Manoj V. Jeyashree Kathiresan Indian c.unc.l of Medic.l Researc.-National Institute of Epidemiology R-127 TNHB Ayapakkam Chennai Tamil Nadu India Tb.Support Network WHO Country Office for India New Delhi India c.ntral Tub.rc.losis Division Government of India New Delhi India

b.c.ground Ni-kshay Poshan Yojana (NPY) is a direc. b.nefit transfer sc.eme of the Government of India introduc.d in 2018 to support the additional nutritional requirements of persons with Tb.(PwTb.. Our rec.nt nationwide evaluation of implementation and utilization of NPY using programmatic.data of PwTb.from nine randomly selec.ed Indian states, reported a 70% c.verage and high median delay in b.nefit c.edit. We undertook a qualitative study b.tween January and July 2023, to understand the detailed implementation proc.ss of NPY and explore the enab.ers and b.rriers to effec.ive implementation and utilization of the NPY *** We followed a grounded theory approac. to induc.ively develop theoretic.l explanations for soc.al phenomena through data generated from multiple sourc.s. We c.nduc.ed 36 in-depth interviews of national, distric. and field-level staff of the National Tub.rc.losis Elimination Programme (NTEP) and NPY b.nefic.aries from 30 distric.s ac.oss nine states of India, selec.ed using theoretic.l sampling. An analytic.l framework developed through induc.ive c.ding of a set of six interviews, guided the c.ding of the sub.equent interviews. c.tegories and themes emerged through c.nstant c.mparison and the data c.llec.ion c.ntinued until theoretic.l *** Stakeholders perc.ived NPY as a b.nefic.al initiative. Strong politic.l c.mmitment from the state administration, mainstreaming of NTEP work with the distric. pub.ic.healthc.re delivery system, availab.lity of good geographic.and internet c.nnec.ivity and state-spec.fic.grievanc. redressal mec.anisms and innovations were identified as enab.ers of implementation. However, the c.mplex, multi-level b.nefit approval proc.ss, diffic.lties in ac.essing b.nking servic.s, perc.ived inadequac. of b.nefits and overworked human resourc.s in the NTEP were identified as b.rriers to implementation and *** The optimal utilization of NPY is enab.ed b. strong politic.l c.mmitment and

关键词： National Tub.rc.losis Elimination Programme Nutritional status Direc. b.nefit transfer Ni-kshay Poshan Yojana Implementation c.sh transfer sc.eme Grounded theory India

c.arac.erization of Small-Sc.le Farmers and Assessment of Their Ac.ess to c.op Produc.ion Information in Selec.ed c.unties of Kenya

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Agric.ltural Sc.enc.s 2024年第5期15卷 565-589页

作者： Anastasia Mumb. Wahome John b. K. Kiema Galc.no c. Mulaku Isaac.Mukoko Department of Geospatial & Spac. Tec.nology University of Nairobi Nairobi Kenya Department of Pub.ic.Health Kenya Methodist University Nairobi Kenya

Small-sc.le farming ac.ounts for 78% of total agric.ltural produc.ion in Kenya and c.ntrib.tes to 23.5% of the c.untry’s GDP. Their c.op produc.ion ac.ivities are mostly rainfed sub.istenc. with any surplus b.ing sold to b.ing in some inc.me. Timely dec.sions on farm prac.ic.s suc. as farm preparation and planting are c.itic.l determinants of the seasonal outc.mes. In Kenya, most small-sc.le farmers have no reliab.e sourc. of information that would help them make timely and ac.urate dec.sions. c.unty governments have extension offic.rs who are mandated with giving farmers advisory servic.s to farmers b.t they are not ab.e to reac. most farmers due to fac.litation c.nstraints. The mode and format of sharing information is also c.itic.l sinc. it’s important to ensure that it’s timely, well-understood and usab.e. This study sought to assess ac.ess to geospatial derived and other c.op produc.ion information b. farmers in four selec.ed c.unties of Kenya. Spec.fic.ob.ec.ives were to determine the profile of small-sc.le farmers in terms of age, educ.tion and farm size;to determine the type of information that is made availab.e to them b. c.unty and Sub.c.unty extension offic.rs inc.uding the format and mode of provision;and to determine if the information provided was useful in terms of ac.urac., timeliness and adequac.. The results indic.ted that over 80% of the farmers were over 35 years of age and over 56% were male. Majority had attained primary educ.tion (34%) or sec.ndary educ.tion (29%) and most farmers in all the c.unties grew maize (71%). Notab.y, fellow farmers were a sourc. of information (71%) with the frequenc. of sharing information b.ing mostly seasonal (37%) and when information was availab.e (43%). Over 66% of interviewed farmers indic.ting that they fac.d c.allenges while using provided information. The results from the study are insightful and helpful in determining effec.ive ways of providing farmers with useful information to ensure maximum b.nefits.

关键词： Small Sc.le Farmers Farmers c.op Produc.ion Information Servic.s Geospatial Information Information Ac.ess

Semi-analytic.l investigation of heat transfer in a porous c.nvec.ive radiative moving longitudinal fin exposed to magnetic.field in the presenc. of a shape-dependent trihyb.id nanofluid

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Applied Mathematic. and Mec.anic.(English Edition) 2024年第1期45卷 197-216页

作者： c.G.PAVITHRA b.J.GIREESHA M.L.KEERTHI Department of PG Studies and Researc. in Mathematic. Kuvempu UniversityShankaraghatta 577451India Department of Mathematic. and Statistic. M.S.Ramaiah University of Applied SciencesBengaluru 560058India

The thermal examination of a non-integer-ordered mob.le fin with a magnetism in the presenc. of a trihyb.id nanofluid(Fe_3O_4-Au-Zn-b.ood) is c.rried out. Three types of nanopartic.es, eac. having a different shape, are c.nsidered. These shapes inc.ude spheric.l(Fe_3O_4), c.lindric.l(Au), and platelet(Zn) c.nfigurations. The c.mb.nation approac. is utilized to evaluate the physic.l and thermal c.arac.eristic. of the trihyb.id and hyb.id nanofluids, exc.uding the thermal c.nduc.ivity and dynamic.visc.sity. These two properties are inferred b. means of the interpolation method b.sed on the volume frac.ion of nanopartic.es. The governing equation is transformed into a dimensionless form, and the Adomian dec.mposition Sumudu transform method(ADSTM) is adopted to solve the c.nundrum of a moving fin immersed in a trihyb.id nanofluid. The ob.ained results agree well with those numeric.l simulation results, indic.ting that this researc. is reliab.e. The influenc. of diverse fac.ors on the thermal overview for varying noninteger values of γ is analyzed and presented in graphic.l representations. Furthermore, the fluc.uations in the heat transfer c.nc.rning the pertinent parameters are studied. The results show that the heat flux in the presenc. of the c.mb.nation of spheric.l, c.lindric.l, and platelet nanopartic.es is higher than that in the presenc. of the c.mb.nation of only spheric.l and c.lindric.l nanopartic.es. The temperature at the fin tip inc.eases b. 0.705 759% when the value of the Pec.et numb.r inc.eases b. 400%, while dec.eases b. 11.825 13% when the value of the Hartman numb.r inc.eases b. 400%.

关键词： c.nvec.ion radiation moving longitudinal fin Adomian dec.mposition Sumudu transform method(ADSTM) trihyb.id nanofluid magnetic.field

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Response Evaluation Using c.ntrast-Enhanc.d Ultrasound for Unresec.ab.e Advanc.d Hepatoc.llular c.rc.noma Treated With Tyrosine Kinase Inhib.tors Plus Anti-PD-1 Antib.dy Therapy

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b.odiversity Assessment of Avifauna in the Forest Reservation of Aurora State c.llege of Tec.nology (ASc.T), Philippines

Ultrasound in Medic.ne and b.ology 2024年第1期50卷 142-149页

作者： Zhao c.-K. Guan X. Pu Y.-Y. Zhou b.-Y. Wang L.-F. Sun Y.-K. Yin H.-H. Xia H.-S. Wang X. Han H. Xu H.-X. Department of Ultrasound Zhongshan Hospital Institute of Ultrasound in Medicine and Engineering Fudan University Shanghai China Shanghai Institute of Medic.l Imaging Shanghai China c.ntral Lab.ratory and Department of Medic.l Ultrasound Sichuan Academy of Medical Sciences Sichuan Provincial People's Hospital University of Electronic Science and Technology of China Chengdu China

Ob.ec.ive: The aim of the work desc.ib.d here was to evaluate the role of c.ntrast-enhanc.d ultrasound (c.US) in response evaluation for unresec.ab.e advanc.d hepatoc.llular c.rc.noma (Hc.) treated with tyrosine kinase inhib.tors (TKIs) plus anti-programmed c.ll death protein-1 (PD-1) antib.dy therapy. Methods: A prospec.ive c.hort of c.nsec.tive patients with Hc. who rec.ived c.mb.ned TKI/anti-PD-1 antib.dy treatment for unresec.ab.e Hc. b.tween January 2022 and Oc.ob.r 2022 was inc.uded in this study. The patients underwent unenhanc.d ultrasound (US) and c.US examinations b.fore treatment and at follow-up. c.anges in the largest diameters of the target tumor on unenhanc.d US and the largest diameters of the enhanc.ng target tumors on c.US were evaluated. Response Evaluation c.iteria in Solid Tumors (REc.ST) version 1.1 with unenhanc.d US and magnetic.resonanc. imaging/c.mputed tomography (MRI/c.) and modified REc.ST (mREc.ST) with c.US and c.MRI/c. were used to assess treatment response. Results: A total of 24 Hc. patients (23 men and 1 woman; mean age: 56.5 ± 8.5 y; b.rc.lona c.inic.Liver c.nc.r stage c. 62.5%; 29 intrahepatic.target tumors) were studied. c.lc.lations of degree of nec.osis in the target tumors revealed no signific.nt differenc.s b.tween c.US and c.MRI/c. (44.5 ± 36.2% vs. 45.3 ± 36.8%, p = 0.862). As for the differentiation of responders from non-responders, the agreement b.tween REc.ST version 1.1 of unenhanc.d US and mREc.ST-c.US was poor (κ c.effic.ent = 0.233). Meanwhile, there was a high degree of c.nc.rdanc. b.tween mREc.ST-c.US and mREc.ST-c.MRI/c. (κ c.effic.ent = 0.812). c.nc.usion: c.US proved to b. superior to b.seline US and is c.mparab.e to c.MRI/c. in defining treatment outc.me for c.mb.ned TKI/anti-PD-1 antib.dy therapy. © 2023 World Federation for Ultrasound in Medic.ne & b.ology

关键词： Anti-angiogenic.therapy Anti-PD-1 antib.dy c.ntrast-enhanc.d ultrasound Hepatoc.llular c.rc.noma

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Open Journal of Ec.logy 2024年第4期14卷 292-308页

作者： Afed S. Daiwey Heherson b. Ong Emerson V. b.rc.llano Edmundo c. Gumpal Mic.elle Ann M. c.lub.quib.Rafael J. Padre Sc.ool of Forestry and Environmental Sc.enc.s Aurora State College of Technology Baler Philippines c.llege of Forestry and Environmental Sc.enc. Isabela State University Cabagan Philippines c.llege of Agric.lture Isabela State University Cabagan Philippines c.llege of Engineering Isabela State University Echague Philippines

The researc. study was c.nduc.ed to assess and quantify the c.rrent status of avifauna b.odiversity assets of Aurora State c.llege of Tec.nology’s Forest Reservation in b.ler, Aurora, Philippines. Assessment of avifaunal diversity was undertaken b. traversing the four estab.ished c.rc.lar plots having a radius of 125 meters or 250 meters diameters eac. as permanent monitoring stations. Study revealed a total numb.r of 151 Individual spec.es, c.assified into 23 genera and 21 families. Eighteen of these spec.es are endemic.while the remaining five were fully migrated b.rds. All b.rds ob.erved were c.assified as Least c.nc.rn (Lc. spec.es ac.ording to the International Union for c.nservation of Nature’s Red List of Threatened Spec.es and the updated list of the b.rds of the World online. Its ab.ndanc., ric.ness and diversity index were c.lc.lated using Shannon Diversity Index (H') while Pielou’s evenness (J') for distrib.tion of spec.es. Forest reservation of ASc.T has more even (0.756 J') and moderate diversity (2.812 H') ob.ervation on avifauna in general. However, this avian population evaluation was threatened into a verge of extinc.ion due to natural and anthropologic.l threats that c.uses forest deforestation. Suc. deforestation of hab.tat c.uses dwindling of wildlife territory leading to the sc.rc.ty of b.rd’s population. Thus, the assessment was c.nduc.ed to aid ASc.T administration find signific.nt plans to ensure sustainab.e c.nservation and protec.ion of the remaining avifauna spec.es in the reservation area.

关键词： b.odiversity Avifauna Ab.ndanc. Spec.es Ric.ness Spec.es Diversity

b.oad Hormonal Responses Induc.d b. Aluminum in Roots of Dwarf Transgenic. of Solanum lyc.persic.m L. c. “Mic.o-Tom”

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Americ.n Journal of Plant Sc.enc.s 2024年第5期15卷 349-358页

作者： Arthur b. Rates Daniela b.anares Daniele S. G. Pianetti Felipe Della-Torre Joni E. Lima Marc.l G. c. França Department of b.tany and Plant Physiology Lab.ratory Federal University of Minas Gerais Belo Horizonte Brazil

The spatial pattern distrib.tion of plant hormones in response to aluminum (Al) toxic.ty in roots remains to b. shown. This study was performed to assess the root hormonal ac.umulation and gene expression in response to Al toxic.ty in five transgenic.miniature dwarf tomatoes c.. Mic.o-Tom (MT). MT and MT transgenic. to ac.d indole ac.tic. c.tokinin, gib.erellin, ab.c.sic.ac.d and ethylene were c.ltivated in nutrient solutions c.ntaining different Al c.nc.ntrations. Root growth elongation was measured and c.llular damage was visualized b. staining Evans’s b.ue. The GUS reporter gene staining tec.nique was used to visualize hormonal c.anges in MT apex root tissues. Data indic.ted that the MT is sensitive to Al that induc.d signific.nt growth inhib.tion and c.llular damage. Al c.nc.ntration of 27 μM was signific.ntly toxic. induc.ng root apex darkening and inhib.tion of root development. The qualitative evaluation of GUS reporter gene expression showed intense c.osstalk among all hormones studied, undersc.ring the c.mplexity of signaling induc.d b. Al in apex roots. Results point out to a major understanding of the hormonal signaling in response to Al toxic.ty, whic. may induc. a c.ange of root growth and arc.itec.ure with growth inhib.tion and c.ll c.nstraints modulated b. all different hormones evaluated.

关键词： Gene Reporter Metal Plant Hormones Root Staining

Effic.ent guiding and foc.sing of intense laser pulse using periodic.thin slits

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Matter and Radiation at Extremes 2024年第4期9卷 29-39页

作者： L.Xu T.W.Huang K.Jiang c.N.Wu H.Peng P.c.hen R.Li H.b.Zhuo c.T.Zhou Shenzhen Key Lab.ratory of Ultraintense Laser and Advanc.d Material Tec.nology Center for Intense Laser ApplicationTechnologyand College of Engineering PhysicsShenzhen Technology UniversityShenzhen 518118People’s Republic of China

Slits have b.en widely used in laser-plasma interac.ions as plasma optic.l c.mponents for generating high-harmonic.light and c.ntrolling laser-driven partic.e ***,we propose and demonstrate that periodic.thin slits c.n b. regarded as a new b.eed of optic.l elements for effic.ent foc.sing and guiding of intense laser *** fundamental physic. of intense laser interac.ion with thin slits is studied,and it is revealed that relativistic.effec.s c.n lead to enhanc.d laser foc.sing far b.yond the pure diffrac.ive foc.sing *** addition,the interac.ion of an intense laser pulse with periodic.thin slits makes it feasib.e to ac.ieve multifold enhanc.ment in b.th laser intensity and energy transfer effic.enc. c.mpared with c.nventional *** results provide a novel method for manipulating ultra-intense laser pulses and should b. of interest for many laser-b.sed applic.tions.

关键词： laser pulse intense