Static-to-kinematic modeling and experimental validation of tendon-driven quasi continuum manipulators with nonconstant subsegment stiffness

Continuum robots with high flexibility and compliance have the capability to operate in confined and cluttered environments. To enhance the load capacity while maintaining robot dexterity, we propose a novel non-constant subsegment stiffness structure for tendon-driven quasi continuum robots(TDQCRs) comprising rigid-flexible coupling subsegments.Aiming at real-time control applications, we present a novel static-to-kinematic modeling approach to gain a comprehensive understanding of the TDQCR model. The analytical subsegment-based kinematics for the multisection manipulator is derived based on screw theory and product of exponentials formula, and the static model considering gravity loading,actuation loading, and robot constitutive laws is established. Additionally, the effect of tension attenuation caused by routing channel friction is considered in the robot statics, resulting in improved model accuracy. The root-mean-square error between the outputs of the static model and the experimental system is less than 1.63% of the arm length(0.5 m). By employing the proposed static model, a mapping of bending angles between the configuration space and the subsegment space is established. Furthermore, motion control experiments are conducted on our TDQCR system, and the results demonstrate the effectiveness of the static-to-kinematic model.

Development and Experimental Evaluation of a Steady-state Model for the Step-feed Biological Nitrogen Removal Process

In this article,a steady-state mathematical model was developed and experimentally evaluated to inves- tigate the effect of influent flow distribution and volume ratios of anoxic and aerobic zones in each stage on the to- tal nitrogen concentration of the effluent in the step-feed biological nitrogen removal process.Unlike the previous modeling methods,this model can be used to calculate the removal rates of ammonia and nitrate in each stage and thereby predict the concentrations of ammonia,nitrate,and total nitrogen in the effluent.To verify the simulation results,pilot-scale experimental studies were carried out in a four-stage step feed process.Good correlations were achieved between the measured data and the simulation results,which proved the validity of the developed model. The sensitivity of the model predictions was analyzed.After verification of the validity,the step feed process was optimally operated for five months using the model and the criteria developed for the design and operation.During the pilot-scale experimental period,the effluent total nitrogen concentrations were all below 5mg·L -1 ,with more than 90%removal efficiency.

STEADY-STATE SOLUTIONS FOR A ONE-DIMENSIONAL NONISENTROPIC HYDRODYNAMIC MODEL WITH NON-CONSTANT LATTICE TEMPERATURE

A one-dimensional stationary nonisentropic hydrodynamic model for semiconductor devices with non-constant lattice temperature is studied. This model consists of the equations for the electron density, the electron current density and electron temperature, coupled with the Poisson equation of the electrostatic potential in a bounded interval supplemented with proper boundary conditions. The existence and uniqueness of a strong subsonic steady-state solution with positive particle density and positive temperature is established. The proof is based on the fixed-point arguments, the Stampacchia truncation methods, and the basic energy estimates.

Lower Bounds of Decay Rates for Solution to the Single-Layer Quasi-Geostrophic Model

In this paper, we study the long-time behavior of solutions of the single-layer quasi-geostrophic model arising from geophysical fluid dynamics. We obtain the lower bound of the decay estimate of the solution. Utilizing the Fourier splitting method, under suitable assumptions on the initial data, for any multi-index α, we show that the solution Ψ satisfies .

Steady-State Modeling of Heat Transfer on the Recovery System of Condensing Boiler

The increase of energy production is very important nowadays. It is necessary to improve the performance and efficiency of heat production facilities. The objective is to reduce pollutant emissions and regulate investment costs. One of the solutions is to control fuel and electricity consumption. This article develops a new model of simulation heat diffusion on the recovery system of condensing boiler. The method is based on the first and second thermodynamic systems. The Numerical discrete Model (NDM) was applied using MATLAB to simulate different characteristics of heat transfer in the recovery system. The result shows that the recovery unit can absorb the following temperatures;the range from 88°C to 90.7°C when the length of the tube is between respectively 110 and 111 m. the energy efficiency was between 0.55 and 0.57 which allowed confirming the model. This new model has some advantages such as;the use of an instantaneous calculation time. The heat recovered by the water tank can also serve as preheating different systems. One part of the heat recovered will be accumulated to be used as domestic hot water.

Establishment of a humanized mouse model using steady-state peripheral blood-derived hematopoietic stem and progenitor cells facilitates screening of cancer-targeted T-cell repertoires

Background:Cancer-targeted T-cell receptor T(TCR-T)cells hold promise in treating cancers such as hematological malignancies and breast cancers.However,approaches to obtain cancer-reactive TCR-T cells have been unsuccessful.Methods:Here,we developed a novel strategy to screen for cancer-targeted TCR-T cells using a special humanized mouse model with person-specific immune fingerprints.Rare steady-state circulating hematopoietic stem and progenitor cells were expanded via three-dimensional culture of steady-state peripheral blood mononuclear cells,and then the expanded cells were applied to establish humanized mice.The human immune system was evaluated according to the kinetics of dendritic cells,monocytes,T-cell subsets,and cytokines.To fully stimulate the immune response and to obtain B-cell precursor NAML-6-and triple-negative breast cancer MDA-MB-231-targeted TCR-T cells,we used the inactivated cells above to treat humanized mice twice a day every 7 days.Then,human T cells were processed for TCRβ-chain(TRB)sequencing analysis.After the repertoires had been constructed,features such as the fraction,diversity,and immune signature were investigated.Results:The results demonstrated an increase in diversity and clonality of T cells after treatment.The preferential usage and features of TRBV,TRBJ,and the V–J combination were also changed.The stress also induced highly clonal Science and Technology,Grant/Award Number:2021C03010;Zhejiang Provincial Natural Science Foundation of China,Grant/Award Numbers:LTGY24H080003,LY21H080004 expansion.Tumor burden and survival analysis demonstrated that stress induction could significantly inhibit the growth of subsequently transfused live tumor cells and prolong the survival of the humanized mice.Conclusions:We constructed a personalized humanized mouse model to screen cancer-targeted TCR-T pools.Our platform provides an effective source of cancer-targeted TCR-T cells and allows for the design of patient-specific engineered T cells.It therefore has the potential to greatly benefit cancer treatment.

Numerical Simulation for Two-Phase Water Hammer Flows in Pipe by Quasi-Two-Dimensional Model

The features of a quasi-two-dimensional( quasi-2D) model for simulating two-phase water hammer flows with vaporous cavity in a pipe are investigated. The quasi-2D model with discrete vaporous cavity in the pipe is proposed in this paper. This model uses the quasi-2D model for pure liquid zone and one-dimensional( 1D) discrete vapor cavity model for vaporous cavity zone. The quasi-2D model solves two-dimensional equations for both axial and radial velocities and 1D equations for both pressure head and discharge by the method of characteristics. The 1D discrete vapor cavity model is used to simulate the vaporous cavity occurred when the pressure in the local pipe is lower than the vapor pressure of the liquid. The proposed model is used to simulate two-phase water flows caused by the rapid downstream valve closure in a reservoir-pipe-valve system.The results obtained by the proposed model are compared with those by the corresponding 1D model and the experimental ones provided by the literature,respectively. The comparison shows that the maximum pressure heads simulated by the proposed model are more accurate than those by the corresponding 1D model.

STEADY-STATE OPERATION ANALYSIS OF AN IDEAL HEAT INTEGRATED DISTILLATION COLUMN

A systematic approach for the steady-state operation analysis of chemical processes is pro-posed.The method affords the possibility of taking operation resilience into consideration during thestage of process design.It may serve the designer as an efficient means for the initial screening ofalternative design schemes.An ideal heat integrated distillation column(HIDiC),without any reboileror condenser attached,is studied throughout this work.It has been found that among the various va-riables concerned with the ideal HIDiC,feed thermal condition appears to be the only factor exertingsignificant influences on the interaction between the top and the bottom control loops.Maximuminteraction is expected when the feed thermal condition approaches 0.5.Total number of stages andheat transfer rate are essential to the system ability of disturbance rejection.Therefore,more stagesand higher heat transfer rate ought to be preferred.But,too many stages and higher heat transfer ratemay increase the load of the

Rate of strong consistency of the maximum quasi-likelihood estimator in quasi-likelihood nonlinear models

Quasi-likelihood nonlinear models （QLNM） include generalized linear models as a special case. Under some regularity conditions, the rate of the strong consistency of the maximum quasi-likelihood estimation （MQLE） is obtained in QLNM. In an important case, this rate is O（n-^1/2（loglogn）^1/2）, which is just the rate of LIL of partial sums for i.i.d variables, and thus cannot be improved anymore.

Numerical Experiments of Meiyu(Baiu) Rainfall by Quasi-Lagrangian Limited Area Model with Terrain

In this paper, a 10-level Quasi-Lagrangian Limited Area Model is used to simulate the process of Meiyu(Baiu) front of 1979. Some physical processes, such as large-scale condensation and cumulus convection, are included in the model. The simulation results are encouraging. 24-h numerical simulation shows that the invading of cold air from North China and rapidly northward moving of warm air from South China can be successfully reproduced. The terrain with a maximum of 4175 m is incorporated in the model. Three different kinds of terrain schemes are tested and the dynamic effect of the Plateau on the process of heavy rainfall is found to be very important.

Numerical Modellings of Properties of the Summer Quasi-Stationary Circulation Systems and Their Monthly Variations

An ocean-atmosphere and land-air coupled numerical model system is used to study the basic properties and the monthly time variations of the summer quasi-stationary circulation systems. It is found that either at the upper or at the lower levels of the atmosphere, the circulation patterns have a two-wave structure in the zonal direction at the mid and high latitudes of the Northern Hemisphere. Such a structure of circulation is totally matchable to that of the land-sea distribution there. It is proved, hence, that the land-sea distributive pattern is the fundamental cause for the summer quasi-stationary circulation pattern. The topography in the globe is the secondary factor for circulation systems. The circulation centres of the quasi-stationary systems are always located in certain areas due to the thermodynamic contrast between land and sea.From the time evolutions of the circulation systems it is seen that the change is larger at the beginning period of the time integration, it is because of using the zonally averaged mean fields as the initial values of the model. As long as the basic simulated pattern of circulations reaches the state similar to that of the real climatic fields resulting from the coeffects of the land-sea distribution and the topography, the circulation systems modelled will change slowly and tend to a quasi-stationary state. Therefore, the time integration does not need to last for a very long time, if the purpose of numerical modellings is to test sensitivities of some factors influencing the climate, 20 model days may be enough for sensitive experiments.

A BAROTROPIC QUASI-GEOSTROPHIC MODEL WITH LARGE-SCALE TOPOGRAPHY, FRICTION AND HEATING

Based on the barotropic equations including large-scale topography, friction and heat factor, a barotropic quasi-geostrophic model with large-scale topography, friction and heating is obtained by means of scale analysis and small parameter method. It is shown that this equation is a basic one, which is used to study the influence of the Tibetan Plateau on the large-scale flow in the atmosphere. If the friction and heating effect of large-scale topography are neglected, this model will degenerate to the general barotropic quasi-geostrophic one.

Asymptotic Normality of Multi-Dimension Quasi Maximum Likelihood Estimate in Generalized Linear Models withAdaptive Design

We study the quasi likelihood equation in Generalized Linear Models（GLM） with adaptive design ∑（i=1）^n xi（yi-h（x＇iβ））=0, where yi is a q=vector, and xi is a p×q random matrix. Under some assumptions, it is shown that the Quasi- Likelihood equation for the GLM has a solution which is asymptotic normal.

Investigation of mechanical behaviour of a quasi-brittle material using Karagozian and Case concrete (KCC) model

The mechanical behaviour of a quasi-brittle material,i.e.Pietra Serena sandstone,was investigated both numerically and experimentally in order to build a reliable numerical modelling system applicable to more complex cases.The Karagozian and Case concrete(KCC)model was exploited as the material constitutive law and a new method to utilise this model for efficient and accurate simulation of quasibrittle materials is discussed.The capability of this model is evaluated by comparing the results of the numerical simulations with the corresponding experimental results,and the method itself is critically assessed.

Approximations of Quasi-Stationary Distributions of the Stochastic <i>SVIR</i>Model for the Measles

In this paper, we analyze the quasi-stationary distribution of the stochastic SVIR (Susceptible, Vaccinated, Infected, Recovered) model for the measles. The quasi-stationary distributions, as discussed by Danoch and Seneta, have been used in biology to describe the steady state behaviour of population models which exhibit discernible stationarity before to become extinct. The stochastic SVIR model is a stochastic SIR (Susceptible, Infected, Recovered) model with vaccination and recruitment where the disease-free equilibrium is reached, regardless of the magnitude of the basic reproduction number. But the mean time until the absorption (the disease-free) can be very long. If we assume the effective reproduction number Rp < 1 or , the quasi-stationary distribution can be closely approximated by geometric distribution. β and δ stands respectively, for the disease transmission coefficient and the natural rate.

Quasi-periodic events on structured earthquake models

There has been much interest in studying quasi-periodic events on earthquake models.Here we investigate quasiperiodic events in the avalanche time series on structured earthquake models by the analysis of the autocorrelation function and the fast Fourier transform.For random spatial earthquake models, quasi-periodic events are robust and we obtain a simple rule for a period that is proportional to the choice of unit time and the dissipation of the system.Moreover, computer simulations validate this rule for two-dimensional lattice models and cycle graphs, but our simulation results also show that small-world models, scale-free models, and random rule graphs do not have periodic phenomena.Although the periodicity of avalanche does not depend on the criticality of the system or the average degree of the system or the size of the system,there is evidence that it depends on the time series of the average force of the system.

The Solitary Waves of the Barotropic Quasi-Geostrophic Model with the Large-scale Orography

Starting from a modified barotropic quasi-geostrophic model equation, considering the actual situation of the large-orography of the Tibetan Plateau, neglecting its slope in x direction, and using the reductive perturbation method, then the solitary waves are obtained. The results show that the orography is essential factor exciting solitary Rossby waves in a flow without shear.

Study on Thermodynamic Properties of Lithium by First-principles and Quasi-harmonic Debye Model

In this paper, the lattice parameter and bulk modulus of lithium(Li) at different pressures and temperatures are calculated by using the density functional theory method within the generalized gradient approximation(GGA).Through the quasi-harmonic Debye model, the thermodynamic properties of Li are predicted. The dependences of the normalized primitive cell volume V/V0 on pressure P, the variation of the thermal expansion coefficient α with pressure P and temperature T, as well as the dependences of the heat capacity Cv on pressure P and temperature T are obtained systematically in the ranges of 0~100 GPa and 0~2 000 K.

A QUASI-FLOW CONSTITUTIVE MODEL WITH STRAIN-RATE DEPENDENCE

In this paper,the proposed is a quasi-flow constitutive model with strain-rate sen- sitivity for elastic plastic large deformation.The model is based on the Quasi-flow Corner theory, and is suitable for the sheet metal forming process simulation with a variable punch machine velocity. Uniaxial tensile tests and deep-drawing tests of a circular blank with square punch are carried out and numerically simulated.The consistency between the experimental and the numerically simulated results shows the validity of the present new constitutive model.

Quasi-Bayesian software reliability model with small samples

In traditional Bayesian software reliability models, it was assume that all probabilities are precise. In practical applications the parameters of the probability distributions are often under uncertainty due to strong dependence on subjective information of experts＇ judgments on sparse statistical data. In this paper, a quasi-Bayesian software reliability model using interval-valued probabilities to clearly quantify experts＇ prior beliefs on possible intervals of the parameters of the probability distributions is presented. The model integrates experts＇ judgments with statistical data to obtain more convincible assessments of software reliability with small samples. For some actual data sets, the presented model yields better predictions than the Jelinski-Moranda （JM） model using maximum likelihood （ML）.