this paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. to this end, a humanoid robot with 18 dof is considered to develop a dynamics model for studying various 3d manoeuvres. then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. in order to generate feasible w...

Cylindrical Frictional Damper (CFD) is a new revolutionary frictional based mechanical damper. Unlike the other types of frictional dampers, CFDs do not utilize bolts to produce friction between contact surfaces. These dampers consist of two main parts, the inner shaft and the external cylinder. These two parts are assembled such that one is shrink-fitted inside the other. In this investigation...

Cooperative arms are two or more arms in series which assume the structure of a parallel robot on account of gripping an intermediary object, and are commonly used in accurate assembly industries, coaxialization, movement of object, etc. Gripping an intermediary object is one of the complicated subjects in analysis of cooperative arms, whose analysis is mostly dependent upon the manner the obje...

The objective of the present study is to explore the influences of the slippage phenomena at solid-liquid interface on the hydrodynamic and heat transfer characteristics in a microchannel flow with the presence of electrokinetic (Ek) effects. With the decrease in the scale of the microchannel liquid flow, the Ek effects become significant and cannot be ignored. Whereas the slippage of aqueous f...

In the flanker paradigm, participants identify a target letter while attempting to ignore an irrelevant flanker. When the identity of this flanker mismatches the target, target identification is slowed (called the flanker compatibility effect). Interestingly, reducing the array set size greatly increases flanker compatibility effects. This finding inspired 2 prominent explanations: perceptual l...

performances of electronic and mechanical draft control systems on a mf399 tractor were the objectives of the study to be evaluated and compared under field conditions. hence, the effects of two draft control systems (mechanical and electronic) under four ground speed levels and three set values of draft levels on rear wheel slippage, fuel consumption, compressive force within the top link and ...

Polymerase slippage during DNA synthesis by the Klenow fragment of DNA polymerase across A, C, G and T repeats (30 bases) has been studied. Within minutes, duplexes that contain only repeats (30 bp) expand dramatically to several hundred base pairs long. Rate comparisons in a repeat duplex when one strand was expanded as against that when both strands were expanded suggest a model of migrating ...

We discuss how the wettability of solid walls impacts electrokinetic phenomena, from large systems down to a nanoscale. show in particular could hydrophobic slippage, coupled confinement effects, be exploited induce novel properties, such as salt-dependent giant amplification zeta potential and conductivity, much more efficient energy conversion. However, impact slippage is dramatically reduced...

RNA dependent DNA-polymerases, reverse transcriptases, are key enzymes for retroviruses and retroelements. Their fidelity, including indel generation, is significant for their use as reagents including for deep sequencing. Here, we report that certain RNA template structures and G-rich sequences, ahead of diverse reverse transcriptases can be strong stimulators for slippage at slippage-prone te...