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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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Large magnetocaloric effect and magnetic properties of EuRhO3

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Journal of Rare Earths 2024年第9期42卷 1724-1729页

作者： m.Lassri m.Sajieddine A.Elouafi A.El Hachmi S.El Ouahbi R.moubah Laboratory of Energy and materials Engineering (LGEm) University of Sultan Moulay SlimaneFaculty of Science and Technology (FST) Institute of Applied Physics (IAP)-School of Industrial management (EmINES) Mohammed Ⅵ Polytechnic University National School of Applied Sciences (ENSA) University of Sultan Moulay Slimane Laboratory of mechanics Production and Industrial Engineering (LMPGI)Higher School of Technology of Casablanca (ESTC)University of Hassan Ⅱ Casablanca Laboratory of Radiation on matter and Instrumentation (LRmI) Faculty of Science and Technology (FST) SettatHassan Ⅰ University Laboatory of Physics of Advanced materials and Thermic (LPmAT) Faculty of Science Ain Chock (FSAC)University of Hassan Ⅱ Casablanca

We report on the structural,magnetic,and magnetocaloric properties of *** oxidation states of Eu and Rh ions were studied using X-ray photoelectron spectroscopy（XPS）.It is found that the Eu ions are mainly in the divalent oxidation state while the Rh ions have+4 ***3powders are found to be antiferromagnetic with a second order magnetic transition at Neel temperature（TN=2.9 K）.Analysis of the magnetic susceptibility versus temperature data in terms of the Curie=Weiss law:(χ=C/（T-θW）) for T>TN,yields θW=-3.1 K and effective magne tic moment ■,which is close to the theoretical value ■.The magnetic entropy change(-ΔSm),was determined by em ploying the thermodynam ic maxwell's *** μ0H=5 T and near TN,■ and relative cooling power（RCP） exhibit large values of 33.7 J/（kg·K） and 238 J/kg,*** large magnitude of-ΔSmand RCP show that the EuRhO3compound could be a potential candidate to be used in cryogenic magnetic refrigeration.

关键词： X-ray photoelectron spectroscopy Cryogenic magnetic refrigeration magnetic properties magnetocaloric effect Rare earths

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Enhancing Critical Path Problem in Neutrosophic Environment Using Python

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Computer modeling in Engineering & Sciences 2024年第9期140卷 2957-2976页

作者： m.Navya Pratyusha Ranjan Kumar VIT-AP University InavoluBesides AP SecretariatAmaravati APIndia

In the real world,one of the most common problems in project management is the unpredictability of resources and *** efficient way to resolve uncertainty problems and overcome such obstacles is through an extended fuzzy approach,often known as neutrosophic *** rigorous proposed model has led to the creation of an advanced technique for computing the triangular single-valued neutrosophic *** innovative approach evaluates the inherent uncertainty in project durations of the planning phase,which enhances the potential significance of the decision-making process in the *** proposed method,for the first time in the neutrosophic set literature,not only solves existing problems but also introduces a new set of problems not yet explored in previous research.A comparative study using Python programming was conducted to examine the effectiveness of responsive and adaptive planning,as well as their differences from other existing models such as the classical critical path problem and the fuzzy critical path *** study highlights the use of neutrosophic logic in handling complex projects by illustrating an innovative dynamic programming framework that is robust and flexible,according to the derived results,and sets the stage for future discussions on its scalability and application across different industries.

关键词： Classical critical path problem fuzzy critical path problem uncertainty neutrosophic triangular single-valued neutrosophic number neutrosophic critical path problem python programming languag

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Critical assessment of R410A alternatives for mini-split air conditioners in the Egyptian market

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Energy and Built Environment 2024年第3期5卷 426-445页

作者： Omar m.Zaki Omar Abdelaziz mechanical Power Engineering Department Faculty of EngineeringCairo UniversityGiza 12613Egypt Department of mechanical Engineering The American University in CairoAUC AvenueNew Cairo 11835Egypt

In this study,the potential implementation of three different low-GWP refrigerants(R32,R452B,and R454B)as replacements for R410A was *** study was performed using a simulation tool developed by the authors called RACHP-Lab,which is a vapor compression system simulation tool developed based on physics-based simulation for typical mini-split air *** simulation study was carried out and validated using experimental performance data of 10 different air conditioning units available in the Egyptian *** units included fixed-speed or variable-speed compressors and operated in cooling or heating ***-in replace-ment with the new refrigerants was carried *** R32,the capacity increased between 4.9%and 13%for cooling cases,and 6.3%and 12.4%for heating ***,COP did not improve in all *** R452B and R454B with direct replacement,the capacity nearly remained the same,with an increase of COP between 1.6%and 8.0%.Soft optimization was also conducted on cooling cases where compressor suction superheat,condenser subcooling,and compressor volumetric speed were optimized to maximize COP while maintaining the original capacity of R410A.R32 showed an improvement of COP over R410A between 4.6%and 15.5%,while for R452B and R454B between 2.2%and 13.2%.

关键词： Air conditioner Heat pump Alternative refrigerants Vapor compression cycle modeling

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Finding my way: The role of dirigent proteins in lignin assembly

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molecular Plant 2024年第2期17卷 230-232页

作者： Dyoni m.Oliveira Igor Cesarino Department of Plant Biotechnology and Bioinformatics Ghent University9052 GhentBelgium VIB Center for Plant Systems Biology 9052 GhentBelgium Departamento de Botanica Instituto de BiocienciasUniversidade de Sao PauloRua do Matao277Sao Paulo 05508-090Brazil Synthetic and Systems Biology Center InovaUSPAvenida Professor Lucio Martins Rodrigues370SaoPaulo 05508-020Brazil

Lignin emerged around 450 million years ago in early tracheophytes and played a pivotal role in the colonization of terrestrial ecosystems by *** aromatic biopolymer provides mechanical strength to supportive tissues and hydrophobicity to water-transporting vasculature and acts as a physical barrier against herbivores and pathogens(Renault et al.,2019).The deposition of lignin in cell walls for proper cellular functionalization involves several molecular steps,including the tight regulation of tissue-or cell-type-specific expression of lignin biosynthetic genes,the biosynthesis of distinct lignin monomers and their transportation to the apoplast,and the polymerization of monomer radicals to produce tissue-or cell-type-dependent polymers with distinct physico-chemical properties.

关键词： properties. lignin walls

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Large magnetocaloric effect and magnetic properties of EuRhO_(3)

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Journal of Rare Earths 2024年第9期42卷 1724-1729,I0004页

作者： m.Lassri m.Sajieddine A.Elouafi A.El Hachmi S.El Ouahbi R.moubah Laboratory of Energy and materials Engineering(LGEm) University of Sultan Moulay SlimaneFaculty of Science and Technology(FST)BP 52323000Béni-MellalMorocco Institute of Applied Physics(IAP)-School of Industrial management(EmINES) Mohammed VI Polytechnic UniversityHay Moulay RachidLot 6603150Ben GuerirMorocco National School of Applied Sciences(ENSA) University of Sultan Moulay SlimaneBP 7725000KhouribgaMorocco Laboratory of mechanics Production and Industrial Engineering(LMPGI)Higher School of Technology of Casablanca(ESTC)University of Hassan II CasablancaCasablancaMorocco Laboratory of Radiation on matter and Instrumentation(LRmI) Faculty of Science and Technology(FST)SettatHassan I UniversitySettatMorocco Laboatory of Physics of Advanced materials and Thermic(LPmAT) Faculty of Science Ain Chock(FSAC)University of Hassan II CasablancaCasablancaMorocco

We report on the structural,magnetic,and magnetocaloric properties of EuRhO_(3) *** oxidation states of Eu and Rh ions were studied using X-ray photoelectron spectroscopy(XPS).It is found that the Eu ions are mainly in the divalent oxidation state while the Rh ions have+4 ***_(3) powders are found to be antiferromagnetic with a second order magnetic transition at Neel temperature(T_(N)=2.9 K).Analysis of the magnetic susceptibility versus temperature data in terms of the Curie=Weiss law:(χ=C/(T-θ_(W))) for T>T_(N),yields θ_(W)=-3.1 K and effective magne tic moment μ_(ff)^(exp),which is close to the theoretical value μ_(eff)^(theo).The magnetic entropy change(-Δ_(Sm)),was determined by em ploying the thermodynam ic maxwell's *** μ_0H=5 T and near T_(N),ΔS_(m)^(max) and relative cooling power(RCP) exhibit large values of 33.7 J/(kg·K) and 238 J/kg,*** large magnitude of-Δ_(Sm) and RCP show that the EuRhO_(3) compound could be a potential candidate to be used in cryogenic magnetic refrigeration.

关键词： X-ray photoelectron spectroscopy Cryogenic magnetic refrigeration magnetic properties magnetocaloric effect Rare earths

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Combining neural progenitor cell transplant and rehabilitation for enhanced recovery after cervical spinal cord injury

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Neural Regeneration Research 2024年第7期19卷 1433-1434页

作者： Camila m.Freria Paul Lu Department of Neurosciences University of CaliforniaSan DiegoLa JollaCAUSA Veterans Administration San Diego Healthcare System San DiegoCAUSA

Efforts to promote recovery of function after human spinal cord injury(SCI) will likely require interventions to rgeting the corticospinal tract(CST) motor system:the most important pathway for voluntary motor control in *** system has historically been the most refractory to regenerative efforts after *** "nonregeneration" of the CST changed when robust regeneration of the CST into spared tissue was demonstrated by the inactivation of phosphatase and tensin homolog and delivery of inosine.

关键词： cervical progenitor injury

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Influence of cerium ions on structure-dependent magnetic properties of Ba-Sr m-type hexaferrite nanocrystals

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Journal of Rare Earths 2024年第2期42卷 364-372,I0005页

作者： Ram A.Pawar Sunil m.Patange P.m.Dighe Sher Singh meena Abdullah GAl-Sehemi mehboobali Pannipara Santosh S.Jadhav Department of Physics ArtsCommerce and Science CollegeAhmednagar413711MaharashtraIndia Department of Physics Shri Krishna MahavidyalayaGunjotiDistOsmanabad413606MaharashtraIndia Padmashri Vikhe Patil College of Arts Science and CommercePravaranagarA/P.Loni(Kd)Tal.RahataDistAhmednagar413713MaharashtraIndia Solid State Physics Division Bhabha Atomic Research CentreMumbai400085MaharashtraIndia Department of Chemistry King Khalid UniversityAbha61413Saudi Arabia Department of Physics D.S.M's ArtsCommerce and Science CollegeJintur431509MaharashtraIndia

The present study is a systematic effort to investigate the structure-sensitive magnetic parameters of Ce^(3+) substituted Ba-Sr hexaferrite nanocrystals chemically formulated as Ba_(0.5)Sr_(0.5)Ce_(x)Fe_(12-x)O_(19) where x=0.0-0.2 with Δx=*** hexaferrite powders were prepared using the sol-gel self-ignition route and structurally characterized by means of powder X-ray diffraction and Fourier transform infrared *** creation of the m-type hexaferrite phase within the synthesized samples was revealed from the Rietveld refinement of the X-ray *** occurrence of a secondary phase of CeO_(2) was revealed within the hexaferrites for the substitution,x> *** refined X-ray diffraction data were utilized to compute the lattice parameters,X-ray density,and lattice parameter *** crystal structure plotted from the refined XRD data reveals the occupancy of the ions at different lattice *** XPS data of the hexaferrite were analyzed to confirm the oxidation states of the constituent *** nanocrystalline nature of the hexaferrites was revealed from the crystallite sizes calculated using Scherer's *** analysis of FTIR spectra confirms that only a fraction of Ce^(3+)accommodated in the lattice and the remaining Ce content reside in the form of the CeO_(2) *** morphology of the hexaferrites was analyzed from the FESEm profiles of the ferrite *** magnetic behavior study was performed by analyzing the Curie temperature,hysteresis loops,and hyperfine interactions by means of susceptibility,V.S.m,and mossbauer spectroscopy,*** hexaferrites with increasing coercivity,decreasing saturation magnetization,and decreasing Curie temperature are reported in the *** substituted Ce^(3+)ions inhibit the grain growth and create lattice imperfections giving rise to hexaferrites with tuned magnetic parameters suitable for different applications.

关键词： Ba-Sr hexaferrite Ce^(3+)substitution XPS Saturation magnetization Coercivity m?ssbauer spectroscopy

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modern View on Potentials of Forensic Pharmaceutical and Pharmacological Expertise

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Journal of Forensic Science and medicine 2024年第1期10卷 62-67页

作者： Elena m.Vazhnichaya Nataliia m.Deviatkina Department of Pharmacology Clinical Pharmacology and PharmacyPoltava State Medical UniversityPoltavaUkraine

The great number of drugs and their variety have increased the potential of therapy but increased the risks of crimes related to the production,sale,and use of *** prosecution of such crimes requires pharmaceutical or pharmacological *** development of forensic pharmacy and forensic pharmacology is relevant and needs consideration of their modern *** purpose of the work is to analyze literature data on the scientific basis of forensic pharmaceutical and pharmacological expertise and their modern *** texts of articles,book chapters,and websites were studied using keywords relevant to the purpose of the *** is shown,that modern forensic pharmaceutical expertise is a separate type of expertise that focuses on the study of drugs and documents that regulate the production,distribution,and quality of *** uses the latest analytical methods of pharmacy.A pharmacologist analyzes body fluids and tissues and interprets the resulting data to help courts and investigators assess the role of a drug in the person’s behavior,illness,injury,or *** range of issues included in the pharmacological examination is fully within the competence of the forensic medical examination,which can be appointed in civil cases or criminal proceedings connected with harm to health or *** pharmacology is not the same as forensic toxicology or pharmacovigilance and requires a separate approach based on purely pharmacological knowledge.

关键词： Drug expertise forensic pharmacology forensic pharmacy

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Sparse-Grid Implementation of Fixed-Point Fast Sweeping WENO Schemes for Eikonal Equations

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Communications on Applied mathematics and Computation 2024年第1期6卷 3-29页

作者： Zachary m.miksis Yong-Tao Zhang Department of Applied and Computational mathematics and Statistics University of Notre DameNotre DameIN46556USA

Fixed-point fast sweeping methods are a class of explicit iterative methods developed in the literature to efficiently solve steady-state solutions of hyperbolic partial differential equations(PDEs).As other types of fast sweeping schemes,fixed-point fast sweeping methods use the Gauss-Seidel iterations and alternating sweeping strategy to cover characteristics of hyperbolic PDEs in a certain direction simultaneously in each sweeping *** resulting iterative schemes have a fast convergence rate to steady-state ***,an advantage of fixed-point fast sweeping methods over other types of fast sweeping methods is that they are explicit and do not involve the inverse operation of any nonlinear local ***,they are robust and flexible,and have been combined with high-order accurate weighted essentially non-oscillatory(WENO)schemes to solve various hyperbolic PDEs in the *** multidimensional nonlinear problems,high-order fixed-point fast sweeping WENO methods still require quite a large amount of computational *** this technical note,we apply sparse-grid techniques,an effective approximation tool for multidimensional problems,to fixed-point fast sweeping WENO methods for reducing their computational ***,we focus on fixed-point fast sweeping WENO schemes with third-order accuracy(Zhang et al.2006[41]),for solving Eikonal equations,an important class of static Hamilton-Jacobi(H-J)*** experiments on solving multidimensional Eikonal equations and a more general static H-J equation are performed to show that the sparse-grid computations of the fixed-point fast sweeping WENO schemes achieve large savings of CPU times on refined meshes,and at the same time maintain comparable accuracy and resolution with those on corresponding regular single grids.

关键词： Fixed-point fast sweeping methods Weighted essentially non-oscillatory(WENO)schemes Sparse grids Static Hamilton-Jacobi(H-J)equations Eikonal equations

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