Quadrupedal Robots’ Gaits Identification via Contact Forces Optimization

The purpose of the present paper is the identification of optimal trajectories of quadruped robots through genetic algorithms. The method is based on the identification of the optimal time history of forces and torques exchanged between the ground and the body, without any constraints on leg kinematics. The solutions show how it is possible to obtain similar trajectories to those of a horse’s walk but obtaining better performance in terms of energy cost. Finally, a map of the optimal gaits found according to the different speeds is presented, identifying the transition threshold between the walk and the trot as a function of the total energy spent.

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Analysis of C80B Wagon’s Load-Stress Transfer Relation

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.148-149.331 ◽

2011 ◽

Vol 148-149 ◽

pp. 331-335 ◽

Cited By ~ 2

Author(s):

Yu Qing Yuan ◽

Qiang Li ◽

Kun Ran

Keyword(s):

Great Influence ◽

Time History ◽

Stress Transfer ◽

The Body ◽

Load Spectrum ◽

Element Analysis ◽

Car Body ◽

History Of The Body ◽

Stress Spectrum ◽

History Of

In this paper, C80B car body is the research object to study the load-stress transfer relationship that has great influence on the car body structure. First of all, through the test data of line DaTong to Qin Huangdao, the load-time history of C80B car body’s load on center plate, load on draw gear, roll load and torsional load have been obtained, as well as the stress-time history of the body fatigue key parts have been obtained. And the load spectrum and stress spectrum have been made up. Then the finite element analysis of the car body is made. The load-stress transfer coefficient of fatigue key parts on car body could be obtained. Last the load and stress transfer relationship in detail considering the measured data has been analyzed.

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AN INVERSE DYNAMICS METHOD FOR RAILWAY VEHICLE SYSTEMS

Transport ◽

10.3846/16484142.2013.789979 ◽

2013 ◽

Vol 29 (1) ◽

pp. 107-114 ◽

Cited By ~ 6

Author(s):

Tao Zhu ◽

Shoune Xiao ◽

Guangwu Yang ◽

Weihua Ma ◽

Zhixin Zhang

Keyword(s):

Dynamic Model ◽

High Speed ◽

Inverse Dynamics ◽

Time History ◽

Inverse Model ◽

Contact Forces ◽

Railway Vehicle ◽

Inverse Dynamic ◽

Multibody Model ◽

History Of

The wheel–rail action will obviously be increased during the vehicles in high-speed operation state. However, in many practical cases, direct measurement of the wheel–rail contact forces cannot be performed with traditional procedures and transducers. An inverse mathematical dynamic model for the estimation of wheel–rail contact forces from measured accelerations was developed. The inverse model is a non-iteration recurrence method to identify the time history of input excitation based on the dynamic programming equation. Furthermore, the method overcomes the weakness of large fluctuations which exist in current inverse techniques. Based on the inverse dynamic model, a high-speed vehicle multibody model with twenty-seven Degree of Freedoms (DOFs) is established. With the measured responses as input, the inverse vehicle model can not only identify the responses in other parts of vehicle, but also identify the vertical and lateral wheel–rail forces respectively. Results from the inverse model were compared with experiment data. In a more complex operating condition, the inverse model was also compared with results from simulations calculated by SIMPACK.

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Aspergillus Spondylodiscitis After Spinal Stenosis Surgery: A Case Report

Iranian Journal of Neurosurgery ◽

10.32598/irjns.5.3.9 ◽

2020 ◽

Vol 5 (3 And 4) ◽

pp. 155-160

Author(s):

Mohsen Aghapoor ◽

◽

Babak Alijani Alijani ◽

Mahsa Pakseresht-Mogharab ◽

◽

...

Keyword(s):

Antifungal Drugs ◽

The Body ◽

Lower Limbs ◽

Lumbar Pain ◽

Case Presentation ◽

Delay In Diagnosis ◽

Death Case ◽

Therapeutic Results ◽

History Of ◽

Probable Diagnosis

Background and Importance: Spondylodiscitis is an inflammatory disease of the body of one or more vertebrae and intervertebral disc. The fungal etiology of this disease is rare, particularly in patients without immunodeficiency. Delay in diagnosis and treatment of this disease can lead to complications and even death. Case Presentation: A 63-year-old diabetic female patient, who had a history of spinal surgery and complaining radicular lumbar pain in both lower limbs with a probable diagnosis of spondylodiscitis, underwent partial L2 and complete L3 and L4 corpectomy and fusion. As a result of pathology from tissue biopsy specimen, Aspergillus fungi were observed. There was no evidence of immunodeficiency in the patient. The patient was treated with Itraconazole 100 mg twice a day for two months. Pain, neurological symptom, and laboratory tests improved. Conclusion: The debridement surgery coupled with antifungal drugs can lead to the best therapeutic results.

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Re-imagining Reproduction: Unsettling Metaphors in the History of Imperial Science and Commercial Surrogacy in India

Somatechnics ◽

10.3366/soma.2015.0149 ◽

2015 ◽

Vol 5 (1) ◽

pp. 88-103 ◽

Cited By ~ 14

Author(s):

Kalindi Vora

Keyword(s):

Assisted Reproductive Technologies ◽

Reproductive Technologies ◽

The Body ◽

Body Parts ◽

Colonial History ◽

Women's Bodies ◽

Commercial Surrogacy ◽

Art Practices ◽

History Of ◽

Travel Industry

This paper provides an analysis of how cultural notions of the body and kinship conveyed through Western medical technologies and practices in Assisted Reproductive Technologies (ART) bring together India's colonial history and its economic development through outsourcing, globalisation and instrumentalised notions of the reproductive body in transnational commercial surrogacy. Essential to this industry is the concept of the disembodied uterus that has arisen in scientific and medical practice, which allows for the logic of the ‘gestational carrier’ as a functional role in ART practices, and therefore in transnational medical fertility travel to India. Highlighting the instrumentalisation of the uterus as an alienable component of a body and subject – and therefore of women's bodies in surrogacy – helps elucidate some of the material and political stakes that accompany the growth of the fertility travel industry in India, where histories of privilege and difference converge. I conclude that the metaphors we use to structure our understanding of bodies and body parts impact how we imagine appropriate roles for people and their bodies in ways that are still deeply entangled with imperial histories of science, and these histories shape the contemporary disparities found in access to medical and legal protections among participants in transnational surrogacy arrangements.

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Receptions of the Past: Commemoration, Racism, Desire

Somatechnics ◽

10.3366/soma.2017.0223 ◽

2017 ◽

Vol 7 (2) ◽

pp. 288-303

Author(s):

Michael Connors Jackman

Keyword(s):

Critical Point ◽

Social Relations ◽

White Privilege ◽

Body Politic ◽

The Body ◽

Race And Racism ◽

Lesbian And Gay ◽

The Past ◽

History Of

This article investigates the ways in which the work of The Body Politic (TBP), the first major lesbian and gay newspaper in Canada, comes to be commemorated in queer publics and how it figures in the memories of those who were involved in producing the paper. In revisiting a critical point in the history of TBP from 1985 when controversy erupted over race and racism within the editorial collective, this discussion considers the role of memory in the reproduction of whiteness and in the rupture of standard narratives about the past. As the controversy continues to haunt contemporary queer activism in Canada, the productive work of memory must be considered an essential aspect of how, when and for what reasons the work of TBP comes to be commemorated. By revisiting the events of 1985 and by sifting through interviews with individuals who contributed to the work of TBP, this article complicates the narrative of TBP as a bluntly racist endeavour whilst questioning the white privilege and racially-charged demands that undergird its commemoration. The work of producing and preserving queer history is a vital means of challenging the intentional and strategic erasure of queer existence, but those who engage in such efforts must remain attentive to the unequal terrain of social relations within which remembering forms its objects.

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Myriad Aspects of Secular Thinking on Malayali Cuisine

GIS Business ◽

10.26643/gis.v14i3.4670 ◽

2019 ◽

Vol 14 (3) ◽

pp. 202-206

Author(s):

SAJITHA M

Keyword(s):

Social Status ◽

Daily Life ◽

Social Indicators ◽

The Body ◽

Human Being ◽

Healthy Life ◽

The Social ◽

The World ◽

History Of ◽

Civilized Society

Food is one of the main requirements of human being. It is flattering for the preservation of wellbeing and nourishment of the body. The food of a society exposes its custom, prosperity, status, habits as well as it help to develop a culture. Food is one of the most important social indicators of a society. History of food carries a dynamic character in the socio- economic, political, and cultural realm of a society. The food is one of the obligatory components in our daily life. It occupied an obvious atmosphere for the augmentation of healthy life and anticipation against the diseases. The food also shows a significant character in establishing cultural distinctiveness, and it reflects who we are. Food also reflected as the symbol of individuality, generosity, social status and religious believes etc in a civilized society. Food is not a discriminating aspect. It is the part of a culture, habits, addiction, and identity of a civilization.Food plays a symbolic role in the social activities the world over. It’s a universal sign of hospitality.[1]

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PROGRAM OF PREDICTION AND MANAGEMENT OF COINTEGED DYNAMIC ECONOMIC PROCESSES BASED ON THE CYBERNETIC APPROACH

Visnyk Universytetu “Ukraina” ◽

10.36994/2707-4110-2019-1-22-35 ◽

2019 ◽

Author(s):

Olena Bundak ◽

Nataliia Zubovetska

Keyword(s):

Computer Program ◽

Pair Correlation ◽

Time History ◽

Critical Area ◽

Concrete Object ◽

Graphic Arts ◽

Ex Post ◽

History Of ◽

Successive Change ◽

Rms Errors

A method and computer program ConRow, which prognostication of development of the dynamically CPLD economic transients is executed by, is described in the article. Such prognostication of economic processes is very important in the cases when their development can result in undesirable consequences, that to go out in the so-called critical area. Extrapolation in a critical area with the use of information about the conduct of the system at an area, near to it, allows to estimate to the lead through of experiment in the critical area of his consequence. For the imitation of conduct of object the function of review is set on entrance influence. For a concrete object this function can express, for example, dependence of change of level sale from time-history of charges on advertising and set as a numeral row. Statistics as a result of analysis of row are represented in a table, where the level of meaningfulness is set statistician, and also parameters of the handed over criteria. The graphic reflection of information is intended for visualization of analysis. Here represented on the points of graphic arts, the crooked smoothing which are calculated as полиномиальные regressions is added. The best approaching is controlled by sight on the proper graph, and also by minimization of their rms errors. Models of prognostication by sight and as formulas represented on graphic arts, the middle is here determined tailings and their chance is checked up on statistics of signs. After the got models determined also and prognosis values of influences and reviews. Establishing an order models of Сr(p) of co integrate regression is carried out separate custom controls. The coefficient of clay correlation of ruФ shows by itself pair correlation between lines with a successive change in relation to each other on a size to лагу of l = 1, 2, 3 . The program was tested on the example of ex-post prognosis at establishing an integration connection and possibility of prognostication of growth of nominal average monthly settlings on the basis of these statistical indexes of consumer inflation in Ukraine.

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A Case Report on Glanzmann’s Thrombasthenia: A Rare Platelet Function Disorder

Haematology Journal of Bangladesh ◽

10.37545/haematoljbd201818 ◽

2018 ◽

Vol 2 (02) ◽

pp. 59-60

Author(s):

Farida Yasmin ◽

Md. Anwarul Karim ◽

Chowdhury Yakub Jamal ◽

Mamtaz Begum ◽

Ferdousi Begum

Keyword(s):

Case Report ◽

Platelet Function ◽

The Body ◽

Presenting Symptoms ◽

Glanzmann’S Thrombasthenia ◽

Glanzmann's Thrombasthenia ◽

Platelet Function Disorders ◽

Recurrent Epistaxis ◽

Severe Epistaxis ◽

History Of

Epistaxis in children is one of the important presenting symptoms for attending emergency department in paediatric patients. Recurrent epistaxis is common in children. Although epistaxis in children usually occurred due to different benign conditions, it may be one of the important presenting symptoms of some inherited bleeding disorder. Whereas most bleeding disorders can be diagnosed through different standard hematologic assessments, diagnosing rare platelet function disorders may be challenging. In this article we describe one case report of platelet function disorders on Glanzmann’s thrombasthenia (GT). Our patient was a 10-year old girl who presented to us with history of recurrent severe epistaxis. She had a bruise on her abdomen and many scattered petechiae in different parts of the body. Her previous investigations revealed no demonstrable haemostatic anomalies. After performing platelet aggregation test, she was diagnosed as GT.

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A Case of Neurosarcoidosis Mimicking Brain Tumor

Current Medical Imaging Formerly Current Medical Imaging Reviews ◽

10.2174/1573405616666201118114152 ◽

2020 ◽

Vol 16 ◽

Author(s):

Lutfullah Sari ◽

Abdusselim Adil Peker ◽

Dilek Hacer Cesme ◽

Alpay Alkan

Keyword(s):

Brain Tumor ◽

Contrast Enhancement ◽

Clinical Laboratory ◽

Vasogenic Edema ◽

Pulmonary Sarcoidosis ◽

Brain Parenchyma ◽

The Body ◽

Oligoclonal Bands ◽

Flair Sequence ◽

History Of

Background: Neurosarcoidosis manifests symptomatically in 5% of patients with sarcoidosis and diagnosis can be challenging if not clinically suspected. Cerebral mass-like presentation of neurosarcoidosis rarely reported in the literature. We presented a woman with neurosarcoidosis who had a cerebral mass-like lesion which completely disappeared after medical treatment. Discussion: A 37-year-old woman with history of pulmonary sarcoidosis referred to the emergency service of our hospital with a one-month history of progressive dizziness, nausea and seeing flashing lights. At neurologic examination, numbness and weakness on the left side of the body, deviation of uvula toward the right side was seen. Cranial MRI demonstrated a 2.5x2 cm in size mass lesion which hypointense on T1 WI, heterogeneous hyperintense on T2 and FLAIR sequence with peripheral vasogenic edema and heterogeneous, irregular contrast enhancement simulating brain tumor. Also, leptomeningeal and nodular contrast enhancement was seen on brainstem, cerebellar vermis, perimesencephalic cistern and left frontal, bilateral parietooccipital sulcus. In laboratory tests; The level of serum angiotensin-converting enzyme (ACE) was 53 IU/mL (N:8-52 IU/mL) and cerebrospinal fluid (CSF) ACE was 23 IU/mL (N:0-2.6 IU/mL). CSF cytology analysis was normal. Pattern 2 oligoclonal bands were present. With these clinical, laboratory and radiological findings, cerebral involvement of sarcoidosis was suspected. Biopsy was not performed due to the high risk of morbidity caused by the deep location of the lesion.Patient was treated with methylprednisolone and Azathioprine for a month.On post-treatment control imaging; lesion disappeared completely without residual leptomeningeal and nodular contrast enhancement.Also, neurologic symptoms were decreased remarkably. Conclusion: Multi-system inflammatory disorders like sarcoidosis, can present with mass-like lesion in the brain parenchyma. While early diagnosis is important to prevent unnecessary interventions like biopsy and surgery, it is crucial to initiate the necessary treatment with the aim of recovery without sequelae. Radiological and clinical follow-up are fundamental in differential diagnosis.

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Presentation

INTERdisciplina ◽

10.22201/ceiich.24485705e.2014.3.47782 ◽

2014 ◽

Vol 2 (3) ◽

Author(s):

Redacción CEIICH

Keyword(s):

Cultural History ◽

Social Reality ◽

Point Of View ◽

The Body ◽

Literary Studies ◽

The Third ◽

The Social ◽

Feminist Theories ◽

History Of

The third number of INTERdisciplina underscores this generic reference of Bodies as an approach to a key issue in the understanding of social reality from a humanistic perspective, and to understand, from the social point of view, the contributions of the research in philosophy of the body, cultural history of the anatomy, as well as the approximations queer, feminist theories and the psychoanalytical, and literary studies.

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