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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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On an isotropic porous solid cylinder:the analytical solution and sensitivity analysis of the pressure

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Applied Mathematics and Mechanics(English Edition) 2024年第9期45卷 1499-1522页

作者： H.ASGHARI L.MILLER R.PENTA J.MERODIO departamento de Matematica Aplicada a las TIC ETS de Ingenieria de Sistemas InformaticosUniversidad Politecnica de MadridMadrid 28031Spain School of Mathematics and Statistics University of GlasgowGlasgow G128QQU.K.

Within this work,we perform a sensitivity analysis to determine the influence of the material input parameters on the pressure in an isotropic porous solid *** provide a step-by-step guide to obtain the analytical solution for a porous isotropic elastic cylinder in terms of the pressure,stresses,and elastic *** obtain the solution by performing a Laplace transform on the governing equations,which are those of Biot's poroelasticity in cylindrical polar *** enforce radial boundary conditions and obtain the solution in the Laplace transformed domain before reverting back to the time *** sensitivity analysis is then carried out,considering only the derived pressure *** analysis finds that the time t,Biot's modulus M,and Poisson's ratio ν have the highest influence on the pressure whereas the initial value of pressure P_(0) plays a very little role.

关键词： sensitivity analysis Laplace transform cylindrical polar coordinate Biot's modulus cylinder

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Spatiotemporal oxygen dynamics in young leaves reveal cyclic hypoxia in plants

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Molecular Plant 2024年第3期17卷 377-394页

作者： Paolo M.Triozzi Luca Brunello Giacomo Novi Gianmarco Ferri Francesco Cardarelli Elena Loreti Mariano Perales Pierdomenico Perata PlantLab Center of Plant SciencesSant'Anna School of Advanced Studies56010 PisaItaly Centro de Biotecnologia y Genomica de Plantas Universidad Politecnica de Madrid(UPM)-Instituto Nacional de Investigacion y Tecnologia Agraria y Alimentaria(INIA-CSIC)Campus de Montegancedo UPMPozuelo de Alarcon28223 MadridSpain Fondazione Pisana per la Scienza 56017 PisaItaly Laboratorio NEST Scuola Normale SuperioreIstituto Nanoscienze-CNRPiazza S.Silvestro1256127 PisaItaly institute of Agricultural Biology and Biotechnology National Research Council56124 PisaItaly departamento de Biotecnologia-Biologia Vegetal Escuela Tecnica Superior de Ingenieria AgronomicaAlimentaria y de BiosistemasUniversidad Politecnica de Madrid(UPM)28040 Madrid.Spain

Oxygen is essential for plant growth and *** occurs in plants due to limited oxygen avail-abilityfollowing adverse environmental conditions as well inhypoxic niches in otherwisenormoxic ***,the existence and functional integration of spatiotemporal oxygen dynamics with plant development remains *** animal systems dynamic fluctuations in oxygen availability are known as cyclic *** this study,we demonstrate that cyclic fluctuations in internal oxygen levels occur in young emerging leaves of Arabidopsis *** hypoxia in plants is based on a mechanism requiring the ETHyLENE RESPONSE FACTORS type VII(ERFVII)that are central components of the oxygen-sensing machinery in *** ERFVll-dependent mechanism allows precise adjustment of leaf growth in response to carbon status and oxygen availability within plant *** study thus establishes a functional connection between internal spatiotemporal oxygen dynamics and developmental processes of plants.

关键词： Arabidopsis hypoxia cyclic hypoxia leaf development oxygen-sensing mechanism ERFVII

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Cotton pads-derived carbon materials/reduced graphene oxide modified with polypyrrole for electrode of supercapacitors

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Journal of Energy Chemistry 2024年第7期94卷 41-53页

作者： Ofelia MArias-Pinedo Elvis OLopez Ivonne EMonje RSoria-Martinez Antony Bazan-Aguilar Clemente Alfredo Luyo Caycho Gabriel Angel Planes Angelica Maria Baena-Moncada Laboratorio de Investigacion de Electroquimica Aplicada Facultad de Ciencias de la Universidad Nacional de IngenieriaAv.Tupac Amaru 210RimacLimaPeru department of Experimental Low Energy Physics Brazilian Center for Research in Physics(CBPF)Rio de Janeiro22290-180Brazi Universidad Tecnologica del Peri Av.Arequipa 26515046 LimaPeru Centeror theevelopmentof Adanced Materials and Nanotechlogy Universidad NacionaldeIngeneria33LimaP departamento de Quimica Universidad Nacional de Rio CuartoInstituto de Investigaciones en Tecnologias Energeticas y Materiales Avanzados(IITEMA)Ruta Nac.36Km 601(X5804BYA)RioCuartoCordobaArgentina

This study investigates the influence of electropolymerization conditions on the deposition of polypyrrole(PPy)onto cotton-derived carbon fiber(CF)modified with reduced graphene oxide(rGO)for supercapacitors applications using an experimental/theorical *** surface modification of CF by rGO and/or by PPy electrodeposited at 10,25 and 50 mV s^(-1) was thoroughly examined physicochemical and *** electrodes comprising CF-rGo-PPy,synthesized via electropolymerization at 25 mV s^(-1),demonstrated a remarkable increase in capacitance,showcasing~742 F g^(-1) compared to 153 F g^(-1) for ***,N_(2)-surface area,XPS,and TD-DFT approach revealed that the higher capacitance observed in CF-rGo-PPy electrodes underscores the influence of morphology and charged nitrogen species on the electrochemical performance of these modified ***,this electrode material achieves a specific capacitance retention of~96%of their initial capacitance after 10000 cycles at 0.5 A g^(-1) measured in a two-electrodes cell *** work also discusses the influence of the scan rate used for pyrrole electropolymerization on the pseudocapacitance contribution of PPy and its possible effect on the porosity of the *** results highlight the importance of appropriate electropolymerization conditions that allow obtaining the synergistic effect between CF,rGO and PPy.

关键词： Supercapacitors Cotton pads-derived carbon fibers rGO PPy TD-DFT

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Distribution and Relation of Primes with Tesla Numbers 3, 6, and 9

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Journal of Applied Mathematics and Physics 2024年第4期12卷 1021-1027页

作者： Javier Mendoza-Navarrete Huetzin Perez Ismael Ojeda Victor Verdugo Gabriel Luna Sandoval Ricardo Jimenez Garcia Jaime Alvarez departametno de Matemá ticas CBTis 256 DGETI Cabo San Lucas M&#233xico DCI departamento de Fisica Mé dica Universidad de Guanajuato Leon M&#233xico Divisió n de Ingenieria en Sistemas Computacionales Tecnol&#243gico Nacional de M&#233xico ITES Los Cabos Cabo San Lucas M&#233xico departamento de ingenieria Industrial en Manufactura Universidad Estatal de Sonora Navojoa M&#233xico departamento de Elé ctrica-Electr&#243nica Tecnol&#243gico Nacional de M&#233xico Campus Mexicali Mexicali M&#233xico Guanajuato M&#233xico

This work presents a different approach to twin primes, an approach from the perspective of the Tesla numbers and gives a refresh and new observation of twin primes that could lead us to an answer to the Twin Prime Conjecture problem. We expose a peculiar relation between twin primes and the generation of prime numbers with Tesla numbers. Tesla numbers seem to be present in so many domains like time, vibration and frequency [1], and the space between twin primes is not the exception. Let us say that twin primes are more than just prime numbers plus 2 or minus 2, and Tesla numbers are more involved with twin primes than we think, and hopefully, this approach give us a better understanding of the distribution of the twin pairs.

关键词： Tesla Numbers Prime Number Twin Prime Numbers Twin Pair

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Building Expertise on FAIR Through Evolving Bring your Own Data(ByOD) Workshops: describing the Data, Software, and Management-focused Approaches and Their Evolution

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Data Intelligence 2024年第2期6卷 429-456页

作者： César H.Bernabé Lieze Thielemans Rajaram Kaliyaperumal Claudio Carta Shuxin Zhang Celia W.G.van Gelder Nirupama Benis Luiz Olavo Bonino da Silva Santos Ronald Cornet Bruna dos Santos Vieira Nawel Lalout Ines Henriques Alberto Camara Ballesteros Kees Burger Martijn G.Kersloot Friederike Ehrhart Esther van Enckevort Chris T.Evelo Alasdair J.G.Gray Marc Hanauer Kristina Hettne Joep de Ligt Arnaldo Pereira Nuria Queralt-Rosinach Erik Schultes Domenica Taruscio Andra Waagmeester Mark D.Wilkinson Egon L.Willighagen Mascha Jansen Barend Mons Marco Roos Annika Jacobsen Biosemantics Group Department of Human GeneticsLeiden University Medical CentreLeidenThe Netherlands NIHR Academic Fellow in General Practice University College London and The Royal Free NHS Foundation Trust National Centre for Rare Diseases Istituto Superiore di SanitaRomeItaly department of Medical Informatics Amsterdam UMC location University of AmsterdamMeibergdreef 9AmsterdamThe Netherlands Amsterdam Public Health Methodology&Digital HealthAmsterdamThe Netherlands Health-Rl UtrechtThe Netherlands Semantics Services and Cybersecurity groupUniversity of TwenteEnschedeThe Netherlands department of Medical Imaging Radboud Institute for Health SciencesRadboud University Medical CenterNijmegenThe Netherlands department of Medical BioSciences Radboud University Medical CenterNijmegenThe Netherlands The Duchenne Parent Project VeneendaalThe Netherlands departamento de Biotecnologia-Biologia Vegetal Escuela Tecnica Superior de Ingenieria AgronomicaAlimentaria y de BiosistemasCentro de Biotecnologia y Genomica de PlantasUniversidad Politecnica de Madrid(UPM)-Instituto Nacional de Investigacion y Tecnologia Agraria y Alimentaria-CSIC(INIA-CSIC).Campus MontegancedoPozuelo de Alarcon(Madrid)Spain Castor AmsterdamThe Netherlands department of Bioinformatics-BiGCaT Maastricht UniversityMaastrichtThe Netherlands University Medical Center Groningen University of GroningenGroningenThe Netherlands Maastricht Centre for Systems Biology(MaCSBio) Maastricht UniversityMaastrichtThe Netherlands department of Computer Science Heriot-Watt UniversityEdinburghUK INSERM US14-OrphanetPlateforme Maladies RaresParisFrance Centre for Digital Scholarship Leiden University LibrariesThe Netherlands Center for Molecular Medicine Cancer Genomics NetherlandsDepartment of GeneticsUniversity Medical Center UtrechtUniversity UtrechtThe Netherlands University of Aveiro DETI/IEETAAveiroPortugal GO FAIR Foundation LeidenThe Netherlands The Leiden Academic Center for Drug Research LeidenThe Netherlands Micel

Since 2014,"Bring your Own Data"workshops(ByODs)have been organised to inform people about the process and benefits of making resources Findable,Accessible,Interoperable,and Reusable(FAIR,and the FAIRification process).The ByOD workshops'content and format differ depending on their goal,context,and the background and needs of ***-focused ByODs educate domain experts on how to make their data FAIR to find new answers to research ***-focused ByODs promote the benefits of making data FAIR and instruct project managers and policy-makers on the characteristics of FAIRification ***-focused ByODs gather software developers and experts on FAIR to implement or improve software resources that are used to support ***,these ByODs intend to foster collaboration between different types of stakeholders involved in data management,curation,and reuse(*** experts,trainers,developers,data owners,data analysts,FAIR experts).The ByODs also serve as an opportunity to learn what kind of support for FAIRification is needed from different communities and to develop teaching materials based on practical examples and *** this paper,we detail the three different structures of the ByODs and describe examples of early ByODs related to plant breeding data,and rare disease registries and biobanks,which have shaped the structure of the *** discuss the latest insights into making ByODs more productive by leveraging our almost ten years of training experience in these workshops,including successes and encountered ***,we examine how the participants'feedback has motivated the research on FAIR,including the development of workflows and software.

关键词： FAIR FAIRification FAIR expertise Bring your Own Data Workshop ByOD

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Numerical Approximation of an Axisymmetric Elastoacoustic Eigenvalue Problem

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Communications in Computational Physics 2023年第10期34卷 1420-1438页

作者： J.Querales P.Venegas GIMNAP Departamento de MatematicaUniversidad del Bio-BioConcepcionChile departamento de Ciencias Exactas Facultad de IngenieriaArquitectura y DisenoUniversidad San SebastianConcepcionChile

This paper deals with the numerical approximation of a pressure/displacement formulation of the elastoacoustic vibration problem in the axisymmetric *** propose and analyze a discretization based on Lagrangian finite elements in the fluid and solid *** show that the scheme provides a correct approximation of the spectrum and prove quasi-optimal error *** report numerical results to validate the proposed methodology for elastoacoustic vibrations.

关键词： Axisymmetric problem fluid-structure interaction spectral problem finite element method

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Building geometry data from online maps for accurate thermal simulations of districts

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建筑模拟(英文) 2023年第9期16卷 1659-1674页

作者： Laura Romero Rodríguez JoséSánchez Ramos ServandoÁlvarez Domínguez Grupo Termotecnia.departamento de Máquinas y Motores Térmicos University of CádizPuerto RealCádizSpain Grupo Termotecnia.departamento de ingenieria Energética University of SevilleSevilleSpain

Current approaches for simulating the energy performance of buildings on a large scale are limited by numerous assumptions and simplifications,which can lead to inaccurate *** new tools and procedures are emerging to improve accuracy,there remains a need for more user-friendly *** study proposes a new tool based on online maps to create the geometry of districts in a simple *** tool also enables an automatic evaluation of all buildings through dynamic hourly simulations,using a building simulation software and allowing to consider different weather *** illustrate the procedure,a district at risk of energy poverty in Seville(Spain)is modeled,where hourly temperature data for a whole year are available to demonstrate the need for building *** tool is used to evaluate the energy demands of the district under several retrofitting alternatives,and free-floating simulations are also performed to evaluate the improvement of thermal comfort without air-conditioning *** aim is not to discuss the actual values for this particular case,but rather to identify the correct direction for large-scale studies,so as to make them more easily ***,it may be concluded that the results provided by comprehensive tools,such as the one proposed in this study,enable easy yet accurate evaluations of buildings on a large scale with significant time savings,as well as the identification of locations where retrofitting interventions would have the greatest impact.

关键词： buildings districts energy demand efficiency GIS urban scale

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Single droplet drying of detergents:Experimentation and modelling

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Particuology 2021年第5期19卷 35-47页

作者： Borja Hernandez Rosa Mondragon Mark A.Pintoa Leonor Hernandez J.Enrique Julia Juan Carlos Jarque Sergio Chiva Mariano Martin Newcastle Innovation Centre Procter&Gamble R&DNewcastle upon TyneUK departamento de ingenieria Quimica y Textil.Universidad de Salamanca SalamancaSpain departamento de ingenieria mecanica y construccion Universitat Jaume ICastellon de la PlanaSpain Instituto de Tecnologia Ceramica Universitat Jaume ICastellon de la PlanaSpain

This study evaluates the single droplet drying(SDD)of *** data are used to validate a theoretical multistage *** experiments are carried out in an acoustic levitator analysing six different detergent formulations at 393 *** work is completed by developing a model based on conservation *** model is composed of the three stages observed in the drying *** the first stage,an external surface drying stage occurs until the surface is saturated and the crust is *** the next stage,the drying rate is governed by diffusion through the *** the same time,the particle heats up until boiling conditions are achieved in the core of the *** this point,the third stage *** the final stage,the droplet core is in boiling conditions which are governed by the pressure drop through the crust and the concentration of *** model has been evaluated for the different formulations being flexible to predict the drying of different mixtures with good accuracy.

关键词： Drying Single droplet Acoustic levitator detergents

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Semantic framework of event detection in emergency situations for smart buildings

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Digital Communications and Networks 2022年第1期8卷 64-79页

作者： yudith Cardinale Gabriel Freites Edgar Valderrama Ana Aguilera Chinnapong Angsuchotmetee departamento de Computacidn Universidad Simon BolivarCaracasVenezuela Escuela de ingenieria Informatica Universidad de ValparaisoValparaisoChile Faculty of Science Prince of Songkla University Thailand

Multimedia Sensor Networks(MSNs)have enhanced the ability to analyze the environment and provide responses based on its current ***,MSNs are composed of scalar and multimedia sensors that have fixed ***,given the advancement of smart mobile device technologies,it is currently possible to dynamically integrate mobile sensors into *** this paper,we propose a formal platform to manage MSNs and the data gathered from them to detect complex *** main contributions include:M^(2)SSN-Onto,a Mobile and Multimedia Semantic Sensor Networks Ontology;Py-CEMiD,an engine for detecting complex events and generate reactions to them;a mobile device location engine to locate mobile sensors;and a proof-of-concept in the context of detecting emergency situations in smart *** scenarios are validated for emergency events,combining simulated sensor measurements with real measurements of mobile *** show complex events can be detected in near real time(less than 1 s).

关键词： Multimedia sensor network Semantic web Event processing Ontology Geolocalisation

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