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51.
Radial symmetrical hexapod robots have attracted the attention of the research community because of their flexibility. There is nonetheless still much to study on their kinematics, dynamics and locomotion. In this paper, initially, full body kinematics of a radial symmetrical six-legged robot with statically stable movements are reviewed. The kinematics analysis is made on cooperated swing legs over supporting legs. Using the robot screw theory and exponential product equations, the velocities and accelerations referring to the object reference frame of each robot part are presented in a compact form. This makes it easy to calculate kinetic energy and so to build the dynamics model using the Lagrangian method. Many ways of walking of six-legged robots have been introduced in specialized literature. However, mobility comparison is still open to research. Two main aspects of mobility are analyzed in detail in this paper. The first one concerns the mobility of three statically stable ways of walking (the insect-wave gait, mammal-kick gait and mixed gait) with the same duty factor on the same radial symmetrical hexapod robot. The stability, energy efficiency, turning flexibility, and terrain or environment adaptability among those gaits have been compared. The mixed gait presents important advantages over the other two, while those two are useful for some special terrain conditions where the mixed gait is limited. The second aspect that has been analyzed focuses on the mobility of the body. The body height, measured from the body bottom to the supporting surface, and the stride optimization factors are proposed according to the obstacles’ configuration and the energy optimization. The results of our study can be used for the intelligent locomotion control of some articulated multi-legged robots for walking statically-stably on a complicated surface.Most of our analyses have been successfully verified on the prototype which has been designed by Politecnico di Milano (POLIMI) and Beijing University of Astronautics and Aeronautics (BUAA) and developed by POLIMI in 2007. 相似文献
52.
Alessandro Petrolini 《Nuclear instruments & methods in physics research. Section A, Accelerators, spectrometers, detectors and associated equipment》2011,630(1):201
After the Pierre Auger Observatory, it is likely that space-based experiments might be required for next-generation studies of Ultra-High Energy Cosmic Particles. An overview of this challenging task is presented, emphasizing the main design issues, the criticalities and the intermediate steps required to make this challenging task a reality. 相似文献
53.
We introduce a model of fluid which has four main features: it readily emerges by a general continuum mechanical framework; it is a generalization maintaining most of the physical features of incompressible Newtonian fluids; it can model adherence interactions with one-dimensional structures surrounded by the fluid; the associated initial boundary-value problem is well-posed on three-dimensional domains. 相似文献
54.
The influence of saliva on aroma release from white and red wines was studied in a model mouth system. Aroma compounds were analysed in the dynamic headspace of wines by solid phase micro extraction/gas chromatography with flame ionization detection. Volatile compounds were identified by solid phase micro extraction/gas chromatography-mass spectrometry, resulting in a total of 43 compounds in white wine and 41 in red wine. The results showed a greater influence of saliva on aroma release in white wine than red wine. In white wine treated with human saliva, esters and fusel alcohols, responsible for fruity and fusel oil odours, were reduced of 32–80%; by contrast, the concentration of 2-phenylethanol and furfural, responsible for rose and toasted almond notes, increased by 27% and by 155%, respectively. In red wine, treated with human saliva, only a few esters decrease, with a reduction of 22–51% due to protein-binding ability of polyphenols that are able to inhibit the activity of the saliva. C-13 norisoprenoids, vitispirane (eucalyptol) and TDN (kerosene), decreased both in white and red wine, showing a comparable variation while, for β-damascenone, the variation was insignificant. 相似文献
55.
Francesco Malara Alessandro Cannavale Giuseppe Gigli 《Progress in Photovoltaics: Research and Applications》2015,23(3):290-301
In the last few years, a new class of smart multifunctional photoelectrochemical devices has been attracting the interest of several academic institutions and industrial companies: photovoltachromic cells, combining the features of photoelectrochromic cells with those of dye‐sensitized solar cells. Here, we report the results of a detailed electrochemical analysis aiming at investigating the electrochemical behavior of these complex photoelectrochemical devices. In particular, we have been focused on the effect of Li+ ions displacement during the coloration of the electrochromic tungsten oxide on the performances of the photovoltaic unit. As we had previously observed striking differences between the performances of the barely photovoltaic mode (with the tungsten oxide in the bleached state) and the photovoltachromic mode (with the tungsten oxide in the colored state), we thus attempted to provide a reasonable physical interpretation to the observed phenomena. Copyright © 2013 John Wiley & Sons, Ltd. 相似文献
56.
Cristina Cornaro Simona Bartocci Davide Musella Cecilia Strati Alessandro Lanuti Simone Mastroianni Stefano Penna Andrea Guidobaldi Fabrizio Giordano Eleonora Petrolati Thomas M. Brown Andrea Reale Aldo Di Carlo 《Progress in Photovoltaics: Research and Applications》2015,23(2):215-225
New generation photovoltaic (PV) devices such as polymer and dye sensitized solar cells (DSC) have now reached a more mature stage of development, and among their various applications, building integrated PVs seems to have the most promising future, especially for DSC devices. This new generation technology has attracted an increasing interest because of its low cost due to the use of cheap printable materials and simple manufacturing techniques, easy production, and relatively high efficiency. As for the more consolidated PV technologies, DSCs need to be tested in real operating conditions and their performance compared with other PV technologies to put into evidence the real potential. This work presents the results of a 3 months outdoor monitoring activity performed on a DSC mini‐panel made by the Dyepower Consortium, positioned on a south oriented vertical plane together with a double junction amorphous silicon (a‐Si) device and a multi‐crystalline silicon (m‐Si) device at the ESTER station of the University of Rome Tor Vergata. Good performance of the DSC mini‐panel has been observed for this particular configuration, where the DSC energy production compares favorably with that of a‐Si and m‐Si especially at high solar angles of incidence confirming the suitability of this technology for the integration into building facades. This assumption is confirmed by the energy produced per nominal watt‐peak for the duration of the measurement campaign by the DSC that is 12% higher than that by a‐Si and only 3% lower than that by m‐Si for these operating conditions. Copyright © 2013 John Wiley & Sons, Ltd. 相似文献
57.
Jan Hcker Tevfik Onur Mente Alessandro Sala Andrea Locatelli Thomas Schmidt Jens Falta Sanjaya D. Senanayake Jan Ingo Flege 《Advanced Materials Interfaces》2015,2(18)
The interaction of molecular hydrogen with ceria is of important relevance for heterogeneous catalysis related to green chemistry and renewable energy. Here, the complex structural transformations of a well‐defined cerium oxide model catalyst are followed in situ and in real time when exposed to a reactive H2 environment. By using electron spectromicroscopy and diffraction with chemical and structural sensitivities, it is demonstrated that the transition from CeO2 to crystalline Ce2O3 occurs through a mixture of transient, coexisting phases on the nanoscale. The findings establish a clear relationship between structure and functionality for hydrogen dissociation over ceria(111), bearing profound implications on the nature of the reduction (Ce4+ → Ce3+) and mechanism for H2 scission. 相似文献
58.
Amri Hilmi Mohamed Naceur Belgacem Christian Signoret Alessandro Gandini 《Polymer International》1996,41(4):427-435
The reduction of furyloxirane (FO) with different reducing agents was conducted under various experimental conditions and occurred essentially by the α-opening of the oxirane ring. It was also shown that the presence of Lewis acids favoured this mode of ring opening. The hydrolysis of furanic oxiranes was accompanied by oligomerization even in the absence of a catalyst. Moreover, very small quantities of water induced the oligomerization of FO giving degrees of polymerization of 40–50. This behaviour is unique since aliphatic and aromatic oxiranes are not activated by water alone. The alcoholysis of FO catalysed by metal alkoxides showed variable extents of α- and β-opening of the oxirane ring, depending on the steric hindrance of the alkoxide used. 相似文献
59.
A pharmacological and genetic blockade of the dopamine D3 receptor (D3R) has shown to be neuroprotective in models of Parkinson’s disease (PD). The anxiolytic drug buspirone, a serotonin receptor 1A agonist, also functions as a potent D3R antagonist. To test if buspirone elicited neuroprotective activities, C57BL/6 mice were subjected to rotenone treatment (10mg/kg i.p for 21 days) to induce PD-like pathology and were co-treated with increasing dosages of buspirone (1, 3, or 10 mg/kg i.p.) to determine if the drug could prevent rotenone-induced damage to the central nervous system (CNS). We found that high dosages of buspirone prevented the behavioural deficits caused by rotenone in the open field test. Molecular and histological analyses confirmed that 10 mg/kg of buspirone prevented the degeneration of TH-positive neurons. Buspirone attenuated the induction of interleukin-1β and interleukin-6 expression by rotenone, and this was paralleled by the upregulation of arginase-1, brain-derived neurotrophic factor (BDNF), and activity-dependent neuroprotective protein (ADNP) in the midbrain, striatum, prefrontal cortex, amygdala, and hippocampus. Buspirone treatment also improved mitochondrial function and antioxidant activities. Lastly, the drug prevented the disruptions in the expression of two neuroprotective peptides, pituitary adenylate cyclase-activating polypeptide (PACAP) and vasoactive intestinal peptide (VIP). These results pinpoint the neuroprotective efficacy of buspirone against rotenone toxicity, suggesting its potential use as a therapeutic agent in neurodegenerative and neuroinflammatory diseases, such as PD. 相似文献
60.
Stefano Ravaioli Davide Campoccia Werner Ruppitsch Franz Allerberger Alessandro Poggi Emanuele Chisari Lucio Montanaro Carla Renata Arciola 《International journal of molecular sciences》2022,23(3)
108 isolates of Staphylococcus aureus, belonging to six large ribogroups according to the automated Ribo-Printer® system, were studied with two highly used molecular methods for epidemiological studies, namely multi-locus sequence typing (MLST) and spa typing, followed by BURP and eBURST v3 analysis for clustering spa types and sequence (ST) types. The aim was to evaluate whether automated ribotyping could be considered a useful screening tool for identifying S. aureus genetic lineages with respect to spa typing and MLST. Clarifying the relationship of riboprinting with these typing methods and establishing whether ribogroups fit single clonal complexes were two main objectives. Further information on the genetic profile of the isolates was obtained from agr typing and the search for the mecA, tst genes, and the IS256 insertion sequence. Automated ribotyping has been shown to predict spa clonal complexes and MLST clonal complexes. The high cost and lower discriminatory power of automated ribotyping compared to spa and MSLT typing could be an obstacle to fine genotyping analyzes, especially when high discriminatory power is required. On the other hand, numerous advantages such as automation, ease and speed of execution, stability, typeability and reproducibility make ribotyping a reliable method to be juxtaposed to gold standard methods. 相似文献