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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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A cellular and proteomic approach to assess proteins extracted from cryopreserved human amnion in the cultivation of corneal stromal keratocytes for stromal cell therapy

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Eye and Vision 2019年第1期6卷 247-260页

作者： Beau J.Fenner Nur Zahirah B.m.Yusoff matthias Fuest Lei Zhou Francisco Bandeira Howard ***-Uy H.K.Tan Jodhbir s.mehta Gary H.F.yam Tissue Engineering and stem Cell Group Singapore Eye Research Institute20 College RoadThe AcademiaDiscovery Tower Level 6Singapore 169856Singapore singapore National Eye Centre SingaporeSingapore Department of Ophthalmology RWTH Aachen UniversityAachenGermany Eye-Academic Clinical Programme Duke-NUS Graduate Medical SchoolSingaporeSingapore Proteomics Platform Singapore Eye Research InstituteSingaporeSingapore Federal University of são Paulo Sao PauloBrazil singapore Eye Bank SingaporeSingapore Department of Obstetrics and Gynaecology Singapore General HospitalSingaporeSingapore

Background:Human corneal stromal keratocytes propagated in culture media supplemented with human amnion extract(AmE)can correct early corneal haze in an animal *** application of cultivated keratocytes is limited by infectious disease screening before amnion products can be used in *** remains unclear if AmE from cryopreserved versus fresh human amnion can support human keratocyte propagation,and which components of the extract promote keratocyte ***:Three placentas were collected for the preparation of fresh and cryopreserved amnion tissues followed by homogenization and protein *** protein profiles were studied using isobaric tagging for relative and absolute quantitation(iTRAQ)*** gene ontology(GO)terms and functional classes were *** human keratocytes from 4 donor corneas were cultured in media supplemented with fresh AmE(F-AmE)or cryopreserved AmE(C-AmE).Cell viability,proliferation and keratocyte marker expression were examined by confocal immunofluorescence and flow ***:AmE proteomics revealed 1385 proteins with similar expression levels(between 0.5-and 2-fold)between Fand C-AmE,while 286 proteins were reduced(less than 0.5-fold)in *** GO term and biological pathway analysis showed that those proteins with comparable expression between F-AmE and C-AmE were involved in cell metabolism,epithelial-mesenchymal transition,focal adhesion,cell-extracellular matrix interaction,cell stress regulation and complement *** corneal stromal keratocytes cultured with F-AmE or C-AmE showed similar morphology and viability,while cell proliferation was mildly suppressed with C-AmE(P>0.05).Expression of aldehyde dehydrogenase 3A1(alDH3A1)and CD34 was similar in both ***:AmE from cryopreserved amnion had limited influence on keratocyte *** is feasible to use protein extract from cryopreserved amnion to propagate human keratocytes for potential translati

关键词： Amnion extract Proteomics Corneal stromal keratocytes marker expression

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Effects of Ving Tsun sticking-hand training on upper-limb sensorimotor performance in community-dwelling middle-aged and older adults: A randomized controlled trial

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International Journal of Nursing sciences 2020年第1期7卷 29-34页

作者： Joanne W.Y.Chung shirley s.m.Fong Yang Gao Timothy T.T.yam.Yvonne T.C.Chak Joyce C.Y.Leung Thomas K.s.Wong Department of Health and Physical Education Education University of Hong KongHong KongChina school of Nursing and Healthcare Hong Kong Nang Yan College of Higher EducationHong KongChina Hong Kong martial Arts Institute Hong KongChina school of Public Health University of Hong KongHong KongChina Department of sport and Physical Education Hong Kong Baptist UniversityHong KongChina Hong Kong Christian service Hong KongChina school of Nursing and Health studies Open University of Hong KongHong KongChina Department of social Work and social Administration University of Hong KongHong KongChina

Objective:To evaluate the effects of Ving Tsun(VT)sticking-hand training on upper-limb joint position sense and muscular performance in community-dwelling middle-aged and older ***:Thirty-three adults were randomly allocated to either a VT group or a control *** VT group received VT sticking-hand training twice per week for 3 *** were taken before and after the intervention *** primary outcome was elbow-joint repositioning error,which was measured by an elbow-joint passive positioning and active repositioning test using a universal *** outcomes were upper-limb muscles'peak force and time taken to reach peak force as measured by a hand-held ***:No significant time,group or time-by-group interaction effects were found for elbow-joint repositioning error or upper-limb muscle peak force *** flexor time to peak force decreased by 33.8%from pre-test to post-test in the VT group(P=0.007).shoulder abductor,internal and external rotator,and elbow extensor times to peak force decreased by 30.0%-35.9%in the VT%roup(Psions:VT sticking-hand training does not improve elbow-joint position sense or the maximum strength of upper-limb muscles in middle-aged and older ***,VT can improve shoulder flexor muscles'time to reach peak force in these *** had no obvious effect on the time required to reach peak force in other shoulder muscles and elbow extensors.

关键词： Aged Exercise movement techniques Joint position sense middle aged muscle strength Upper extremities

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A multi-photon(7×7)-focus 3D laser printer based on a 3D-printed diffractive optical element and a 3D-printed multi-lens array

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Light(Advanced manufacturing) 2024年第1期5卷 26-39页

作者： Pascal Kiefer Vincent Hahn sebastian Kalt Qing sun Yolita m.Eggeler martin Wegener Dmm2O-Cluster of Excellence Karlsruhe Institute of Technology(KIT)and Heidelberg University76128 KarlsruheGermany Institute of Applied Physics(APH) Karlsruhe Institute of Technology(KIT)76128 KarlsruheGermany Institute of Nanotechnology(INT) Karlsruhe Institute of Technology(KIT)76128 KarlsruheGermany Laboratory for Electron microscopy(lem) Karlsruhe Institute of Technology(KIT)76128 KarlsruheGermany

One of the challenges in the field of multi-photon 3D laser printing lies in further increasing the print speed in terms of voxels/***,we present a setup based on a 7×7 focus array(rather than 3×3 in our previous work)and using a focus velocity of about 1 m/s(rather than 0.5 m/s in our previous work)at the diffraction limit(40×/NA1.4 microscope objective lens).Combined,this advance leads to a ten times increased print speed of about 108 voxels/*** demonstrate polymer printing of a chiral metamaterial containing more than 1.7×10^(12) voxels as well as millions of printed microparticles for potential pharmaceutical *** critical high-quality micro-optical components of the setup,namely a diffractive optical element generating the 7×7 beamlets and a 7×7 lens array,are manufactured by using a commercial two-photon grayscale 3D laser printer.

关键词： 3D laser printing Direct laser writing multi-photon absorption multi-focus optics Diffractive optical element Lens array

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mHD flow of upper-convected maxwell fluid over porous stretching sheet using successive Taylor series linearization method

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Applied mathematics and mechanics(English Edition) 2012年第8期33卷 975-990页

作者： s.s.mOTsA T.HAYAT O.m.alDOssARY school of mathematial sciences University of KwaZulu-NatalPrivate Bag X01Scottsville 3209PietermaritzburgSouth Africa Department of mathematics Quaid-I-Azam UniversityIslamabad 44000Pakistan Department of Physics King Saud UniversityRiyadh 11451Saudi Arabia

This paper investigates the magnetohydrodynamic （mHD） boundary layer flow of an incompressible upper-convected maxwell （UCm） fluid over a porous stretching surface. similarity transformations are used to reduce the governing partial differential equations into a kind of nonlinear ordinary differential equations. The nonlinear prob- lem is solved by using the successive Taylor series linearization method （sTsLm）. The computations for velocity components are carried out for the emerging parameters. The numerical values of the skin friction coefficient are presented and analyzed for various parameters of interest in the problem.

关键词： upper-convected maxwell (UCm) fluid boundary layer flow successivelinearization method successive Taylor series linearization method (sTsLm)

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The anti-scarring effect of corneal stromal stem cell therapy is mediated by transforming growth factorβ3

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Eye and Vision 2020年第1期7卷 512-525页

作者： Lin Weng James L.Funderburgh Irona Khandaker moira L.Geary Tianbing Yang Rohan Basu martha L.Funderburgh Yiqin Du Gary Hin-Fai yam Department of Ophthalmology University of Pittsburgh School of medicine203 Lothrop StreetPittsburghPA 15213USA shanghai Lanhe Optometry and Ophthalmology Clinic Shanghai 200032People’s Republic of China

Background:Corneal stromal stem cells(CssC)reduce corneal inflammation,prevent fibrotic scarring,and regenerate transparent stromal tissue in injured *** effects rely on factors produced by CssC to block the fibrotic gene *** study investigated the mechanism of the scar-free regeneration ***:Primary human CssC(hCssC)from donor corneal rims were cultivated to passage 3 and co-cultured with mouse macrophage RAW264.7 cells induced to m1 pro-inflammatory phenotype by treatment with interferonγand lipopolysaccharides,or to m2 anti-inflammatory phenotype by interleukin-4,in a Transwell *** timecourse expression of human transforming growth factorβ3(hTGFβ3)and hTGFβ1 were examined by immunofluorescence and ***β3 knockdown for>70%in hCssC[hCssC-TGFβ3(si)]was achieved by small interfering RNA ***ïve CssC and hCssC-TGFβ3(si)were transplanted in a fibrin gel to mouse corneas,respectively,after wounding by stromal *** clarity and the expression of mouse inflammatory and fibrosis genes were ***:hTGFβ3 was upregulated by hCssC when co-cultured with RAW cells under m1 *** of hCssC to wounded mouse corneas showed significant upregulation of hTGFβ3 at days 1 and 3 post-injury,along with the reduced expression of mouse inflammatory genes(CD80,C-X-C motif chemokine ligand 5,lipocalin 2,plasminogen activator urokinase receptor,pro-platelet basic protein,and secreted phosphoprotein 1).By day 14,hCssC treatment significantly reduced the expression of fibrotic and scar tissue genes(fibronectin,hyaluronan synthase 2,secreted protein acidic and cysteine rich,tenascin C,collagen 3a1 andα-smooth muscle actin),and the injured corneas remained ***,hCssC-TGFβ3(si)lost these anti-inflammatory and anti-scarring functions,and the wounded corneas showed intense ***:This study has demonstrated that the corneal regenerative effect of hCssC is mediated by TGFβ3,inducing a s

关键词： Cornea wound healing Corneal stromal stem cells TGFβ3 Inflammation Fibrosis

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surgery for Early stage Invasive Cervical Cancer. Experience of the Oncology Department of Ledantec Hospital

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Journal of Cancer Therapy 2022年第2期13卷 80-87页

作者： sidy Ka yam.ogo Bonaventure mamadou m. Dieng souleymane Dieng Jaafar Thiam salif Baldé Ahmadou Dem Centre Hospitalier Universitaire Le Dantec Dakar Sénégal

Background: surgery is the treatment for early-stage cervical cancer. Radiochemotherapy is used in the treatment of locally advanced stages. But the choice of treatment can be difficult. Objective: The objective of this work was to evaluate the therapeutic aspects of cervical cancer in the early stages IA to IIA in the oncology department of A Ledantec Hospital in Dakar. Patients and methods: This was a descriptive retrospective study, from January 2015 to December 2020, in the oncology department of A Ledantec Hospital, including all the patients who had been treated for early-stage invasive cervical cancer. Results: We included 28 patients. The average age was 49.54 years old. There were 11 patients (39.3%) with a stage ≤ IB1. surgery was the first in 14 patients (50%). The initial approach was a midline supra and subumbilical laparotomy. The surgery was R0 in 65.22%. Postoperative complications were found in 4 patients including 1 case of operative wound suppuration, 1 case of dysuria, 1 case of postoperative eventration and 1 case of rectovaginal fistula. Concomitant Radiochemotherapy was neoadjuvant in 7 cases (25%), adjuvant in 14 cases (50%). The chemotherapy was neoadjuvant in 09 cases (56.25%) and adjuvant in 7 cases (43.75%) with minor toxicities. We had recorded 2 deaths. Conclusion: The treatment of the early stages of invasive cervical cancer is based on surgery. Neoadjuvant treatments may be useful in particular situations.

关键词： Cancer Cervix Early Treatment

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Endovascular Irradiation Prevents sm ooth muscle CellPro-liferation and Neointim alHyperplasia in Rabbits

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Journal of Huazhong University of science and Technology(medical sciences) 1999年第3期19卷 240-245页

作者： XU Linfeng 1, WU Yudan 2, FENG Gansheng 1 1 Department of Radiology, Xiehe Hospital, Tongji medical University, Wuhan 430030 2Institute of Hematology, Xiehe Hospital, Tongji medical University, Wuhan 430030 Oguchi m, Yokota H, Nakagawa T, yam Department of Radiology Xiehe Hospital Tongji Medical University Wuhan Institute of Hematology Xiehe Hospital Tongji Medical University Wuhan Department of Radiology Kanazawa Medical University Japan

The present study examined the temporal responses and the efficacy of 192Ir HDR endovascular irradiation for preventing smooth muscle cell proliferation of rabbit iliac arteries after PTA with a cutting balloon catheter. Endovascular irradiation with 12 Gy was randomly performed on the one side of iliac arterial segment with the unirradiated side serving as a control. Animals were euthanatized 1, 2, 3, 4, 8 and 12 week(s) after angioplasty. Histopathological and immunohistochemical studies were carried out. Histopathology showed repair of the dissection by cellular accumulation and a striking reduction in the amount of neointimal hyperplasia in the irradiated arteries as compared with control vessels. A peak of PCNA positive ratio was in neointima of the control arterial segments at a week. 2 - 4 weeks after irradiation, the neointimal PCNA positive ratio was still significantly increased in the control arterial segments compared with the irradiated arterial segments. After 8 weeks, PCNA positive ratio was below 1 % in both irradiated arterial segments and the control. Our results showed that the 192Ir HDR afterloading irradiation with a dose of 12 Gy can be considered sufficient for inhibiting neointimal hyperplasia in angioplastized rabbit iliac arteries with cutting balloon catheter.

关键词： neointimal hyperplasia endovascular irradiation PCNA

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Analysis and Design of Trial Well mooring in Deepwater of the south China sea

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Journal of marine science and Application 2012年第2期11卷 222-227页

作者： Yongfeng Guo shaojun Ji Changquan Tang Jiansong Li Huiquan Zhong Ong Chin yam.Ian China Oilfield services Limited Beijing 101149 China Franklin Offshore Group of Companies in singapore Singapore 609259 Singapore

mooring systems play an important role for semi-submersible rigs that drill in deepwater.A detailed analysis was carried out on the mooring of a semi-submersible rig that conducted a trial well drilling at a deepwater location in the south China sea in *** rig was 30 years old and had a shallow platform with a designed maximum operating water depth of 457 *** the mooring analysis,a mooring design was given that requires upgrading of the rig’s original mooring *** upgrade included several innovations,such as installing eight larger anchors,*** the original anchors and inserting an additional 600 m of steel wires with the existing *** this was done to enhance the mooring capability of the rig in order for the rig to be held in position to conduct drilling at a water depth of 476 *** overall duration of the drilling was 50 days and the upgraded mooring system proved to be efficient in achieving the goal of keeping the rig stationary while it was drilling the trial well in the south China *** successful campaign demonstrates that an older semi-submersible rig can take on drilling in deep water after careful design and proper upgrading and modification to the original mooring system.

关键词： offshore anchor operation mooring chain wire chaser drilling engineering semi submersible south China sea anchor handling vessel(AHV)

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Releases of phosphate fertilizer industry in the surrounding environment:Investigation on heavy metals and polonium-210 in soil

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Journal of Environmental sciences 2010年第9期22卷 1387-1397页

作者： m.Aoun A.G.El samrani B.s.Lartiges V.Kazpard Z.saad Lebanese Atomic Energy Commission Lebanese University Faculty of SciencesPlatform for Research and Analysis in Environmental Sciences Nancy University-lem-ENsG/INPL-CNRs-15 Av.du Charmois

Distribution of Cu, Zn, Pb, Cr, Ni, mn concentrations and the activity of polonium-210 in the surrounding area of a phosphate fertilizer industry located on the eastern coast of the mediterranean sea has been determined. Nineteen sampling sites were distributed around the industrial zone on a surface area of about 100,000 m^2. Atomic absorption spectroscopy and alpha spectroscopy were used to quantify the heavy elements and polonium-210, respectively. Investigation on a particle scale was conducted by TEm and sEm coupled to EDX and X-ray cartography to determine the nature of heavy elements carriers and their distribution. Heavy elements were mainly concentrated inside the particle size fraction 〈 50 μm. Their levels decreased with distance increasing from the industry. According to the reference soil, enrichment factors were about 10, 15, 32 and 100 times for Zn, Pb, Cu, and Cr, respectively inside the particle size fraction 〈 50 μm on the closest sites to the industry. The main contaminant sources were transport and storage of row materials and the free release of phosphogypsum waste. Heavy elements were entrapped inside agglomerates of sulfates, phosphates and iron oxihydroxides in a diffused shape. Polonium-210 with an enrichment factor of about 56, showed the same behavior of the spatial distribution of the trace elements.

关键词： heavy elements phosphogypsum fortilizer industry polonium-210 alpha spectrometry

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