Search results

Gait Function The joint angles are defined as described in Fig. 9, and the range of the angle is based on the human motion data as in Table 2.
Based on the human walking pattern as depicted in Fig. 10, our paper supposes that the robot control data is generated by the gait function as a trigonometric function shown in Eq. 1.Fig. 9: Robot linkage model.
The gait functions which are assigned to all joints are described by Eq. 2 - Eq. 8.ϕ1 =    0; t = 0 or t ≥ 3.6 ±1.5; t = 0.3 & t = 3.3 ϕ1(t); 0.3 < t < 3.3 (2) ϕ2 =    0; t ≤ 0.3 or t ≥ 3.6 ϕ2(t + 0.6); 0.3 < t < 3.3 15; t = 3.3 (3) ϕ3 =    0; t ≤ 0.3 or t ≥ 3.6 ϕ3(t + 0.6); 0.3 < t < 3.3 30; t = 3.3 (4) ϕ4 =    0; t ≤ 0.3 or t ≥ 3.6 ϕ4(t + 0.6); 0.3 < t < 3.3 15; t = 3.3 (5) ϕ5 =    0; t = 0 or t ≥ 3.3 15; t = 0.3 ϕ2(t); 0.3 < t < 3.3 (6) ϕ6 =    0; t = 0 or t ≥ 3.3 30; t = 0.3 ϕ3(t); 0.3 < t < 3.3 (7) ϕ7 =    0; t = 0 or t ≥ 3.3 15; t = 0.3 ϕ4(t); 0.3 < t < 3.3 (8) In the toe mechanism, since the energy consumption reduction of the robot is considered, the passive joint is selected as a toe joint.
A gait control data is automatically generated by solving the optimization problem in which ISADE algorithm is applied to the objective function approximated by RSM.

Finer powder yields a greater reduction in surface area.
To eliminate artifacts due to image truncation, lower-dose (compared to MAF acquisition) full-FOV (FFOV) FPD RA sequences (194 µm pixel, FOV=20 cm) were also obtained to complete the missing data (Fig. 3).
Test of normality showed that data were not normally distributed and therefore, non-parametric tests were used.
Analysis of data was carried out using the Kruskal- Wallis test with multiple pair wise comparisons.

Results and Discussion Materials that play the role of fluxes in the silicate industry were selected based on the literature data [18-21].
Then which there is a transition of silicon tetrafluoride to the gas phase and its interaction with water vapor released during heating from the foaming mixture according to reaction (5): 4NaF + 3SiO2 → 2Na2SiO3 + SiF4↑, (4) SiF4 + 3H2O → SiO2 + 4HF, (5) However, it is clearly seen on the basis of the available experimental data that the small additions of fluorides are the most effective, and the melting action of fluorides and oxides (in terms of the number of destroyed bridges) is nonequivalent.
In this case, the melt already contains from 15 to 30 % Na2O introduced with NaOH, i.e. microphase plays a decisive role in viscosity reduction.
Müller, The nature of activation energy and experimental data on the fluidity of refractory glass-forming substances, J.

The paper [17] proposes and verifies the physico-mathematical model of the material impregnation based on the analytical expression for the diffusion coefficient satisfactorily describing the experimental data.
As referenced above, the most of the published papers do not contain the data of analysis of the criticality of the process under study for the safe production activity.
Results and Discussion Fig. 2 as an example shows the results of the binder temperature calculations over the depth of the impregnating bath obtained for the following initial data [25, 26].
With such distribution of temperatures, binder viscosities at the entry to and exit from the bath will differ significantly, causing the reduction of the rate of absorption of the binder in the reinforcing material.

Based on the results of the analysis of mechanical test data, visual and radiographic control, impermeability tests and metallographic studies of welded joints, the appropriate modes of laser welding of plugs have been determined.
IAEA data evidence about the same situation around the world [24] In the middle part the body of SG is welded with two vertical collectors of the primary circuit, designed for connection with 11000 pieces of heat exchange pipes (HEPs), bent into U-shaped coil-pipes [22].
The increase in idle HEPs leads to both significant financial losses and a decrease in the efficiency of operation of the units due to the reduction of the heat transfer surface.
A comparison of the data shows that the fracture stress for annular butt welds of the “plate-pipe” type of AISI 321 (pipe) and AISI 316Ti (plate) steels are not less than 80% of the fracture stress of the main pipe material (AISI 321 steels).

These defect properties of solids include the electronic structure reflected in optical and spin resonance data, formation energies, and diffusion parameters.
The reduction in surface energy due to inward relaxation will be partly balanced by the increase in elastic energy.
Their disadvantages include truncation problems and their inability to reproduce the harmonic data of the crystal.
From the trapping model analysis of positron annihilation data Kim [85] has found out the vacancy formation energy as 1.28±0.23 eV.
However, the analysis of self diffusion data in FCC metals [120-122] reveals that with rising temperature the contribution of divacancies may also become prominent.

In this section, the case study is presented first, including the design of retaining walls, LCA data, and construction cost data.
LCA data and construction cost data To calculate the environmental impacts of the two indicators, CED and CO2 emissions, Ecoinvent 3.3 database [30] was chosen as a database for this study because of its global reputation as a scientifically accurate and constantly updated database [31].
The selected data for the two environmental indicators, CED and CO2, correspond to a 28-ton truck, which is the most common means of transport for this type of construction.
The CC data for each material used for the two ERW types considered in this study is presented in Table 3.
Shen, A hybrid Data Quality Indicator and statistical method for improving uncertainty analysis in LCA of complex system – application to the whole-building embodied energy analysis, J.

Experimental data also show that on real surfaces under ambient conditions the nano-friction depends on the parameters of the environment, such as temperature and humidity [80].
We have therfore developed our own model, (shown in the following section) which describes and explains well the experimental data.
This prediction is in very good agreement with the experimental data.
In the central part, there is a substantial reduction of tip friction over the surface covered with gold NRs when transverse ultrasonic (out-of-the-plane) vibrations are excited.
The bouncing of an inertial tip results in an effective reduction of its pressure on a surface.

To create nanoparticles with a uniform size distribution using this technique, all that is required is to submerge a metal precursor solution in a reduction solution [56].
The data obtained indicate that doxorubicin carried by silica nanoparticles and coated with chitosan (SNP-CH-DOX-CM) will associate with the cytoplasm, showing the level of internalization and intracellular distribution, as well as co-localized doxorubicin release spread and accumulation in the nucleus.
The use of SNP-CH-DOX-CM nanoparticles as a treatment resulted in a significant reduction in both the volume and weight of the tumor.
Bray et al., “Cancer in sub-Saharan Africa in 2020: a review of current estimates of the national burden, data gaps, and future needs,” Lancet Oncol., vol. 23, no. 6, pp. 719–728, 2022, doi: 10.1016/S1470-2045(22)00270-4
Data Collect., vol. 41, no.

When the grinding time exceeds 100 min, the particle size reduction rate of iron tailings powder slowly declines, and it is prone to the micro agglomeration effect.
The activity of iron tailings is lower than that of fly ash, and the reduction of fly ash content reduces the activity of raw materials, reduces the formation of geopolymer colloids, and also affects the final strength.
The response surface methodology data were statistically analyzed by Design Expert 8.0 software.
According to the experimental data, the binary regression equation of the response surface coding form is: Y=33.7-0.96A-0.80B+1.69C-1.83AB-2.44AC-0.12BC-2.44A2-2.21B2-2.40C2#1 The binary regression equation of response surface transformed into an actual value is: Y=-73.35032+1.14348A+243.85795B+1.01964C-0.91625AB-0.0061125AC-.00610843A2-220.649054B2-0.00600236C2#2 Taking the maximum compressive strength as the index, the extreme point of the response surface model is obtained by solving the extreme value of the regression model.
After each freeze-thaw cycle of 25 times, 3 specimens were selected for mass loss and compressive strength measurement, and their average value was used as the final test data.