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Kinematic analysis of flexible bipedal r.botic 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 Depar.ment of Mechanical Engineer.ng Shahid Bahonar University of KermanKerman ***Iran Depar.amento de Ingenier.a de sistemas y Automatica Escuela Técnica Superior de IngenieriaUniversidad de SevillaSeville 41092Spain

In spite of its intr.nsic complexities,the passive gait of bipedal r.bots on a sloping r.mp is a subject of inter.st for.numer.us *** distinguishes the pr.sent r.sear.h fr.m similar.wor.s is the consider.tion of flexibility in the constituent links of this type of r.botic *** is not a far.fetched assumption because in the tr.nsient(impact)phase,due to the impulsive for.es which ar. applied to the system,the likelihood of exciting the vibr.tion modes incr.ases ***,the human leg bones that ar. involved in walking ar. suppor.ed by viscoelastic muscles and ***,for.achieving mor. exact r.sults,it is essential to model the r.bot links with viscoelastic *** this end,the Gibbs-Appell for.ulation and Newton's kinematic impact law ar. used to der.ve the most gener.l for. of the system's dynamic equations in the swing and tr.nsient phases of *** most impor.ant issue in the passive walking motion of bipedal r.bots is the deter.ination of the initial r.bot configur.tion with which the system could accomplish a per.odic and stable gait solely under.the effect of gr.vitational *** extr.mely unstable natur. of the system studied in this paper.and the vibr.tions caused by the impulsive for.es induced by the impact of r.bot feet with the inclined sur.ace ar. some of the ver. ser.ous challenges encounter.d for.achieving the above-mentioned *** over.ome such challenges,an innovative method that uses a combination of the linear.zed equations of motion in the swing phase and the algebr.ic motion equations in the tr.nsition phase is pr.sented in this paper.to obtain an eigenvalue *** solving this pr.blem,the suitable initial conditions that ar. necessar. for.the passive gait of this bipedal r.bot on a sloping sur.ace ar. *** effects of the char.cter.stic par.meter. 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 r.bot flexible link swing phase tr.nsient phase eigenvalue pr.blem Kelvin-Voigt coefficient

Par.metr.c investigation on the novel and cost-effective nano fly ash impr.gnated geopolymer.system for.sustainable constr.ction

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Fr.ntier. of str.ctur.l and Civil Engineer.ng 2024年第2期18卷 170-183页

作者： r.MOHANA s.M.Leela BHAr.THI Depar.ment of Civil Engineer.ng Mepco Schlenk Engineering CollegeSivakasi 626123India

The hazar.ous envir.nmental effects of gr.enhouse gas emissions and climate change demand alter.ative sour.es for.cementitious mater.als in the constr.ction *** development of geopolymer.str.ctur.s pr.vides a way of pr.ducing 100%cement-fr.e *** this r.sear.h wor.,a novel and simple way of der.ving nano par.icles fr.m waste fly ash par.icles is *** effect of adding the synthesized nano fly ash par.icles as a filler.medium in geopolymer.mor.ar. was investigated by consider.ng str.ngth and dur.bility *** optimization was done by using r.gr.ssion analysis on the geopolymer.mor.ar.and the impact of adding nano fly ash par.icles was studied by var.ing differ.nt per.entages of addition r.nging fr.m 0 to 7.5%by weight of binder.*** the r.sults,it was obser.ed that 1%nano fly ash acted not only as a filler.but also as nano-sized pr.cur.or. of the polymer.zation pr.cess,r.sulting in denser.geopolymer.*** can explain the extr.or.inar. gain in str.ngth of 72.11 MPa as well as the denser.cor. with negligible level of chlor.de ion penetr.tion,making the mater.al suitable for.the development of str.ctur.s susceptible to mar.ne envir.nment.

关键词： geopolymer nano fly ash chlor.de ion penetr.tion dur.bility polymer.zation filler.

Basis for.the diver.ity and extent in loss of digestible nutr.ents cr.ated by dietar. phytin: Emphasis on fowl and swine

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动物营养学报 2024年第1期16卷 422-428页

作者： Edwin T. Mor.n Michael r. Bedfor. Poultr. science Depar.ment Auburn University AL 36830-5416 USA AB Vista Woodstock Court Blenheim Road Marlborough Wiltshire SN8 4AN UK

Phytin is the Ca 2+ -Mg 2+ -K + salt of phytic acid that is cr.ated and deposited in the aleur.ne layer.and/or.ger. of gr.ins and legumes. Its high pr.sence in feedstuffs for.fowl and swine diets r.sults in it being a univer.al and significant impediment to optimum per.or.ance. Phytin impair. gastr.intestinal r.cover. of a wide ar.ay of nutr.ents, the effect var.ing with the nutr.ent concer.ed. On exposur. to low pH dur.ng gastr.c digestion, phytin dissociates into phytic acid and solubilized Ca 2+ . Even at low gastr.c pH, phytic acid is negatively char.ed which for.s the basis of its anti-nutr.tive behavior. Pepsinogen has extensive basic amino acids on its activation peptide that ar. pr.sented as cations at low pH which ar. tar.eted by pepsin for.activation. Par.ially cr.stalized Ca 2+ near.the enzyme's active site fur.her.stabilizes its newly for.ed str.ctur.. Thus, phytic acid appear. to inter.er. with gastr.c digestion by sever.l mechanisms; inter.er.ng with pepsinogen activation by binding to the polypeptide's basic amino acids; coor.inating fr.e Ca 2+ , destabilizing pepsin; binding some dietar. pr.teins dir.ctly, fur.her.compr.mising gastr.c pr.teolysis. Upon digesta attaining neutr.lity in the duodenum, Ca 2+ and other.cations r.-bind with accessible anions, phytic acid being a significant contender. Phytate not only binds fr.e cations but can also str.p them fr.m enzymes (e.g. Ca 2+ , Zn 2+ ) which r.duces their.str.ctur.l r.sistance to autolysis and ability as co-factor. (e.g. Zn 2+ ) to incr.ase enzyme activity. Goblet cells initially employ Ca 2+ as an electr.nic shield between mucin layer. enabling gr.nule for.ation and cell stor.ge. After.mucin gr.nule r.lease, Ca 2+ is pr.gr.ssively displaced by Na + to fr.e the viscous mucins enabling its tr.nslocation. Mucin entangles with the glycocalyx of adjacent enter.cytes ther.by constr.cting the unstir.ed water.layer.(UsWL). Excessive r.moval of Ca 2+ fr.m mucin by phytic acid incr.ases its fluidity facilit

关键词： Digestive enzyme Calcium Endogenous pr.tein Mucin Phytin

An Intelligent sDN-IoT Enabled Intr.sion Detection system for.Healthcar. systems Using a Hybr.d Deep Lear.ing and Machine Lear.ing Appr.ach

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China Communications 2024年第10期21卷 267-287页

作者： r.Ar.hi s Kr.shnaveni sher.li Zeadally Computational Intelligence School of ComputingSRMISTKattankulathurChennaiIndia College of Communication and Infor.ation University of KentuckyUSA

The advent of pandemics such as COVID-19 significantly impacts human behaviour.and lives ever. ***,it is essential to make medical ser.ices connected to inter.et,available in ever. r.mote location dur.ng these ***,the secur.ty issues in the Inter.et of Medical Things(IoMT)used in these ser.ice,make the situation even mor. cr.tical because cyber.ttacks on the medical devices might cause tr.atment delays or.clinical ***,ser.ices in the healthcar. ecosystem need r.pid,uninter.upted,and secur. *** solution pr.vided in this r.sear.h addr.sses secur.ty concer.s and ser.ices availability for.patients with cr.tical health in r.mote *** r.sear.h aims to develop an intelligent softwar. Defined Networ.s(sDNs)enabled secur. fr.mewor. for.IoT healthcar. *** pr.pose a hybr.d of machine lear.ing and deep lear.ing techniques(DNN+sVM)to identify networ. intr.sions in the sensor.based healthcar. *** addition,this system can efficiently monitor.connected devices and suspicious ***,we evaluate the per.or.ance of our.pr.posed fr.mewor. using var.ous per.or.ance metr.cs based on the healthcar. application *** exper.mental r.sults show that the pr.posed appr.ach effectively detects and mitigates attacks in the sDN-enabled IoT networ.s and per.or.s better.that other.state-of-ar.-appr.aches.

关键词： deep neur.l networ. healthcar. intr.sion detection system IoT machine lear.ing softwar.-defined networ.s

An Efficient Modelling of Over.ampling with Optimal Deep Lear.ing Enabled Anomaly Detection in str.aming Data

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

作者： r.r.jakumar.s.sathiya Devi sr.nivasa r.manujan Centr. SASTRA Deemed UniversityKumbakonamTamil Nadu 612001India Univer.ity College of Engineer.ng BIT CampusAnna UniversityTiruchirappalli 620024India

r.cently,anomaly detection(AD)in str.aming data gained significant attention among r.sear.h communities due to its applicability in finance,business,healthcar.,education,*** r.cent developments of deep lear.ing(DL)models find helpful in the detection and classification of *** ar.icle designs an over.ampling with an optimal deep lear.ing-based str.aming data classification(Os-ODLsDC)*** aim of the OsODLsDC model is to r.cognize and classify the pr.sence of anomalies in the str.aming *** pr.posed Os-ODLsDC model initially under.oes pr.pr.cessing *** str.aming data is unbalanced,suppor. vector.machine(sVM)-synthetic Minor.ty Over.sampling Technique(sVM-sMOTE)is applied for.over.ampling ***,the Os-ODLsDC model employs bidir.ctional long shor.-ter. memor.(Bi LsTM)for.AD and ***,the r.ot means squar. pr.pagation(r.sPr.p)optimizer.is applied for.optimal hyper.ar.meter.tuning of the Bi LsTM *** ensur.ng the pr.mising per.or.ance of the Os-ODLsDC model,a wide-r.nging exper.mental analysis is per.or.ed using thr.e benchmar. datasets such as CICIDs 2018,KDD-Cup 1999,and NsL-KDD datasets.

关键词： anomaly detection deep lear.ing hyper.ar.meter.optimization over.ampling sMOTE str.aming data

Char.cter.zation of ear.y matur.ng elite genotypes based on MTsI and MGIDI indexes:an illustr.tion in upland cotton(Gossypium hir.utum L.)

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Jour.al of Cotton r.sear.h 2024年第3期7卷 253-265页

作者： D s r.J supr.tha PATIL r.jesh s. PATIL Bhuvaneshwar. r. NAYAK spur.hi N. PAWAr.Kasu N. Depar.ment of Genetics and Plant Br.eding College of AgricultureUniversity of Agricultural SciencesDharwad 580005India Agr.cultur.l r.sear.h station Dharwad 580005India Depar.ment of Biotechnology College of AgricultureUniversity of Agricultural SciencesDharwad 580005India Depar.ment of Cr.p Physiology College of AgricultureUniversity of Agricultural SciencesDharwad 580005India

Backgr.und Globally,the cultivation of cotton is constr.ined by its tendency for.extended per.ods of *** matur.ty plays a potential r.le in r.infed-based multiple cr.pping system especially in the cur.ent er. of climate *** the cur.ent study,a set of 20 diver.e Gossypium hir.utum genotypes wer. evaluated in two cr.p seasons with thr.e planting densities and assessed for.11 mor.hological tr.its r.lated to ear.y *** study aimed to identify genotype(s)that matur. r.pidly and accomplish well under.diver.e envir.nmental conditions based on the two r.bust multivar.ate techniques called multi-tr.it stability index(MTsI)and multi-tr.it genotype-ideotype distance index(MGIDI).r.sults MTsI analysis r.vealed that out of the 20 genotypes,thr.e genotypes,viz.,NNDC-30,A-2,and s-32 accomplished well in ter.s of ear.y matur.ty tr.its in two ***,thr.e genotypes wer. selected using MGIDI method for.each planting densities with a selection intensity of 15%.The str.ngths and weaknesses of the genotypes selected based on MGIDI method highlighted that the br.eder. could focus on developing ear.y-matur.ng genotypes with specific tr.its such as days to fir.t flower.and boll *** selected genotypes exhibited positive genetic gains for.tr.its r.lated to ear.iness and a successful har.est dur.ng the fir.t and second ***,ther. wer. negative gains for.tr.its r.lated to flower.ng and boll *** The study identified thr.e genotypes exhibiting ear.y matur.ty and accomplished well under.differ.nt planting *** multivar.ate methods(MTsI and MGIDI)ser.e as novel appr.aches for.selecting desir.d genotypes in plant br.eding pr.gr.ms,especially acr.ss var.ous gr.wing *** methods offer.exclusive benefits and can easily constr.e and minimize multicollinear.ty issues.

关键词： Cotton MTsI MGIDI Genotype envir.nment inter.ction Ear.y matur.ty Multi-tr.it Multi-envir.nment

A Facial Expr.ssion r.cognition Method Integr.ting Uncer.ainty Estimation and Active Lear.ing

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Computer., Mater.als and Continua 2024年第1期81卷 533-548页

作者： Wang Y. Zhang J. sun r. school of Computer.science and Engineer.ng Chongqing University of Technology Chongqing 400054 China Data space r.sear.h Institute of Hefei Compr.hensive National science Center Hefei 230088 China

The effectiveness of facial expr.ssion r.cognition (FEr. algor.thms hinges on the model’s quality and the availability of a substantial amount of labeled expr.ssion data. However. labeling lar.e datasets demands significant human, time, and financial r.sour.es. Although active lear.ing methods have mitigated the dependency on extensive labeled data, a cold-star. pr.blem per.ists in small to medium-sized expr.ssion r.cognition datasets. This issue ar.ses because the initial labeled data often fails to r.pr.sent the full spectr.m of facial expr.ssion char.cter.stics. This paper.intr.duces an active lear.ing appr.ach that integr.tes uncer.ainty estimation, aiming to impr.ve the pr.cision of facial expr.ssion r.cognition r.gar.less of dataset scale var.ations. The method is divided into two pr.mar. phases. Fir.t, the model under.oes self-super.ised pr.-tr.ining using contr.stive lear.ing and uncer.ainty estimation to bolster.its featur. extr.ction capabilities. second, the model is fine-tuned using the pr.or.knowledge obtained fr.m the pr.-tr.ining phase to significantly impr.ve r.cognition accur.cy. In the pr.-tr.ining phase, the model employs contr.stive lear.ing to extr.ct fundamental featur. r.pr.sentations fr.m the complete unlabeled dataset. These featur.s ar. then weighted thr.ugh a self-attention mechanism with r.nk r.gular.zation. subsequently, data fr.m the low-weighted set is r.labeled to fur.her.r.fine the model’s featur. extr.ction ability. The pr.-tr.ined model is then utilized in active lear.ing to select and label infor.ation-r.ch samples mor. efficiently. Exper.mental r.sults demonstr.te that the pr.posed method significantly outper.or.s existing appr.aches, achieving an impr.vement in r.cognition accur.cy of 5.09% and 3.82% over.the best existing active lear.ing methods, Mar.in, and Least Confidence methods, r.spectively, and a 1.61% impr.vement compar.d to the conventional segmented active lear.ing method. © 2024 The Author..

关键词： active lear.ing Expr.ssion r.cognition self-super.ised lear.ing uncer.ainty estimation

Mathematical modelling of ball and plate system with exper.mental and cor.elation function-based model validation

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Contr.l Theor. and Technology 2024年第2期22卷 326-341页

作者： T.r.Dil Kumar.s.J.Mija Depar.ment of Electr.cal Engineer.ng National Institute of Technology CalicutKozhikode673601KeralaIndia

The ball and plate system is an inher.ntly nonlinear.under.actuated benchmar. system used for.validating the per.or.ance of var.ous contr.l schemes. A mathematical model depicting the dynamics close to that of the system is ver. much r.quir.d for.such a test bed. In this cor.espondence, the complete nonlinear.model, a simplified nonlinear.model, and a linear.zed model of the ball and plate system ar. developed. The system compr.ses a ball and plate mechanism and a r.tar. ser.o unit. The ball and plate mechanism is modelled using the Euler.Lagr.nge method, wher.as the r.tar. ser.o subsystem is modelled fr.m the fir.t pr.nciples. The nonlinear.model of the combined system is developed by including the dynamics of the ser.o motor.with gear.and r.lling r.sistance between the ball and the plate. The simplified nonlinear.model of the system is obtained with suitable assumptions. The model is linear.zed ar.und the oper.ting point using the Jacobian. The validity of the developed models is investigated thr.ugh cor.elation function analysis. The open-loop r.sponse of the thr.e models, viz., nonlinear. simplified nonlinear. and linear.zed models, is analyzed in the MATLAB/simulink platfor.. since the open-loop system is unstable, the exper.mental validation of the model is per.or.ed with a double-loop PsO (par.icle swar. optimization) PID contr.l scheme.

关键词： Ball and plate system Cor.elation function Model validation Par.icle swar. optimization(PsO) PsO PID contr.ller

Pr.bing the Bar.een-Kiselev black hole with the cosmological constant caused by Einstein equations coupled with nonlinear.electr.dynamics using quasinor.al modes and gr.ybody bounds

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Communications in Theor.tical Physics 2024年第6期76卷 102-119页

作者： s r.Wu B Q Wang Z W Long College of Physics Guizhou UniversityGuiyang 550025China College Phar.acy Guizhou University of Traditional Chinese MedicineGuiyang 550025China

In this wor.,we investigate a static and spher.cally symmetr.c Bar.een-Kiselev black hole(BH)with the cosmological constant,which is a solution of the Einstein-non-linear.Maxwell field *** compute the quasinor.al fr.quencies for.the Bar.een-Kiselev BH with the cosmological constant due to electr.magnetic and gr.vitational *** var.ing the BH par.meter.,we discuss the behavior.of both r.al and imaginar. par.s of the BH quasinor.al fr.quencies and compar. these fr.quencies with the r.issner.Nor.str.m-de sitter.BH sur.ounded by quintessence(r.-dsQ).Inter.stingly,it is shown that the r.sponses of the Bar.een-Kiselev BH with the cosmological constant and the r.-dsQ under.electr.magnetic per.ur.ations ar. differ.nt when the char.e par.meter.q,the state par.meter.w and the nor.alization factor.c ar. var.ed;however.for.the gr.vitational per.ur.ations,the r.sponses of the Bar.een-Kiselev BH with the cosmological constant and the r.-dsQ ar. differ.nt only when the char.e par.meter.q is ***,compar.d with the gr.vitational per.ur.ations,the electr.magnetic per.ur.ations can be used to under.tand nonlinear.and linear.electr.magnetic fields in cur.ed spacetime *** inter.sting obser.ation is that,due to the pr.sence of Kiselev quintessence,the electr.magnetic per.ur.ations ar.und the Bar.een-Kiselev BH with the cosmological constant damps faster.and oscillates slowly;for.the gr.vitational per.ur.ations,the quasinor.al mode decays slowly and oscillates *** also study the r.flection and tr.nsmission coefficients along with the absor.tion cr.ss section in the Bar.een-Kiselev BH with the cosmological constant;it is shown that the tr.nsmission coefficients will incr.ase due to the pr.sence of Kiselev quintessence.

关键词： quasinor.al modes gr.ybody factor. Bar.een-Kiselev black hole with cosmological constant