bluuebunny/crossref_metadata_2025_split huggingface dataset:
The Interior Contact-Aided Rolling Element
Authors: Orr Daniel , Jensen Anna , Peterson Tyler , Bischoff Brianna , Taylor Luke , Velasco Daira , Fullwood David , Howell Larry L. , Bowden Anton E. 
Published: October 2024

Abstract
This work introduces an interior contact-aided rolling element (I-CORE) compliant mechanism that draws upon the concepts used for the contact-aided rolling element, cross-axis flexural pivot, and pre-curved flexible beam. The I-CORE incorporates a bilinear compressive stiffness response with an initial tailorable stiffness governed by the flexural geometry, followed by a stiffness curve governed by the material stiffness at the contact point. The I-CORE mechanism can achieve one or two degrees of rotational freedom as well as a single degree of translational freedom. The purpose of the present work was to introduce the I-CORE mechanism, as well as a pseudo-rigid-body replacement model (PRBM) of the I-CORE mechanism which was subsequently validated using both finite element analysis and benchtop mechanical testing. A pseudo-rigid body model was created for the I-CORE to simplify the rapid adaptation of this mechanism to different design applications. This model was validated using both finite element analysis and benchtop mechanical testing under both compression and rotation loading conditions. Additionally, multiple configurations of the device were created and evaluated in order to test its sensitivity to certain design features including the flexure width, flexure thickness, and the radius of the rounded contact surfaces. It was found that the model is sensitive to the thickness of the flexures and that despite some limitations, the pseudo-rigid body model is sufficiently accurate for initial design work. Some possible applications of the mechanism are proposed.
Design and Control Co-Optimization for Dynamic Loco-Manipulation With a Robotic Arm on a Quadruped Robot
Authors: Rigo Alberto , Hu Muqun , Ma Junchao , Gupta Satyandra K. , Nguyen Quan 
Published: October 2024

Abstract
Research in quadrupedal robotics is transitioning to studies into loco-manipulation, featuring fully articulated robotic arms mounted atop these robots. Integrating such arms enhances the practical utility of legged robots, paving the way for expanded applications like industrial inspection and search and rescue. Existing literature commonly employs a six-degree-of-freedom (six-DoF) arm directly mounted to the robot, which inherently adds significant weight and reduces the available payload for manipulation tasks. Our study explores an optimized combination of arm configuration and control framework by strategically reducing the DoFs and leveraging the quadruped robot’s inherent agile mobility. We demonstrate that by minimizing the DoFs to just one, a range of canonical loco-manipulation tasks can still be accomplished. Some tasks even show improved performance with fewer robotic arm DoFs due to the higher torque motor used in the design, allowing more of the robot’s payload to be used for manipulation. We designed our optimized one-DoF robotic arm and the control framework and tested it on top of a Unitree Aliengo. Our design outperforms conventional six-DoF counterparts in lifting capacity, achieving an impressive 8 kg payload compared to the 2 kg maximum payload of industry-standard six-DoF robotic arms on the same quadruped platform.
A Combined Strategy for Path Planning of Tensegrity Manipulators Considering Structural Stability
Authors: Mao Tianxiao , Deng Hua , Liu Hongchuang 
Published: October 2024

Abstract
A strategy combining an improved rapidly exploring random tree (RRT) method with the artificial potential field (APF) method is proposed for the path planning of flexible tensegrity manipulators considering typical complex constraints, such as structural stability, obstacle avoidance, and cable no-slackening. The relationship between the node displacements and the elongations of active members is established for the kinematic analysis of tensegrity manipulators. The rest lengths of active members are taken as the design variables for the generation of a random tree. The guide node is utilized for goal-biased samplings to expedite the exploration toward the final configuration, while the APF method is introduced to ensure that the obtained elongations of active members can satisfy the constraint of obstacle avoidance. The proportion of random and goal-biased samplings is adaptively adjusted based on the sampling success rate. Futile random samplings can be significantly reduced by dynamically modifying the random sampling range according to the obtained configuration nearest to the final configuration. The computational procedure of the proposed method is presented. An illustrative flexible tensegrity manipulator is employed to demonstrate the adaptability of the proposed path planning method to complex constraints, especially structural stability.
Studies on Tribological Characteristics and Wear Mechanisms of (TiN + TiC) Hybrid Nanocomposite Claddings Deposited on TC4-Grade Titanium Alloy Substrate by the Tungsten Inert Gas Cladding Process
Authors: Rama Krishna K. , Rao Thella Babu , Krishna A Gopala 
Published: October 2024

Abstract
This investigation explored the viability of tribological properties enhancement with the deposition of TiC + TiN nanoparticulate-reinforced hybrid composite claddings in TC4-grade titanium alloy to meet the ever-increasing functional performance requirements employed under aggressive tribological environments. The composite claddings are processed by using the tungsten inert gas cladding process. The tribological performance of the hybrid composite cladding deposition was evaluated against the claddings with simplex reinforcement compositions such as TC4/TiC and TC4/TiN composite claddings and the substrate alloy. Initially, the formation and microstructural characteristics of the composite cladding depositions are studied based on the scanning electron microscope, X-ray diffraction, and energy dispersive spectroscopic analyses to confirm their successful formation. The average microhardness achieved with the deposition of composite claddings such as TiC/TC4, TiN/TC4, and (TiC + TiN)/TC4 is 936.25 HV0.2, 858.88 HV0.2, and 1116. 72 HV0.2, respectively, while the TC4 substrate alloy is about 332.38 HV0.2. The (TiC + TiN)/TC4 hybrid composite cladding composition has shown significantly increased surface hardness which is about 30% and 18%, respectively, compared with the TiC/TC4 and TiN/TC4 composite cladding compositions while about 235% enhancement compared with the TC4 substrate alloy. Compared with the TC4 substrate alloy, the wear resistance enhancement achieved with the deposition of TiC/TC4 and TiN/TC4 composite claddings is up to 22.62% and 38.92%, respectively, while with the (TiC + TiN)/TC4 hybrid composite claddings is up to 49.87%. Similarly, the average CoF of the TC4 substrate alloy, TiC/TC4, TiN/TC4, and (TiC + TiN)/TC4 composite claddings observed are 0.76, 0.49, 0.58, and 0.44, respectively, which indicates that 36%, 23%, and 43% are the enhancements achieved with the respective composite claddings. The SEM analysis of worn surfaces of the composite claddings reveals typical wear mechanisms such as adhesive, abrasive, oxidation, and delamination that are represented by various regions identified on the generated wear maps. The adhesive and delamination wear regions are relatively wider for the TiN/TC4 composite cladding than the TiC/TC4 composite cladding. The wear mechanism of the composite cladding with multiphase TiC and TiN reinforcement particulate has shown an increased prevalence of abrasive wear as a consequence the abrasive wear region is wider while decreasing the window for adhesive and delamination wear.
Wear Micromechanics, Mechanisms, and Wear Map of Al–12.6Si–0.25Fe–x Mn Alloy: The Role of Al15(Mn,Fe)3Si2 Intermetallic and Microstructure Modification
Authors: Biswas Prosanta , Raj Akash , Neelakantan Suresh , Mondal Manas Kumar 
Published: October 2024

Abstract
The study investigates the microstructural evolution and wear behavior of Al–12.6Si–0.25Fe–xMn alloys (x = 0, 1, 2, and 3 wt%) in dry sliding wear experiments. Manganese (Mn) considerably modifies the microstructure by modifying primary and eutectic silicon particles, changing Fe-rich intermetallic compounds, and increasing the overall wear resistance of Al–12.6Si–0.25Fe. The microstructural investigation demonstrates the production of Al15(Mn,Fe)3Si2 intermetallic phases, as well as a more uniform Si particle distribution. Wear experiments at varied loads (20 N, 40 N, and 60 N) show that Mn addition significantly reduces wear-rates and specific wear-rates, especially at lower loads. The findings highlight Mn's significance in increasing the hardness and wear resistance of Al–Si–Fe alloys, making them better suited to automotive applications.
Validation of a Repurposed pH Monitoring Capsule for Cecal Applications Using Novel Synthetic Cecal Contents
Authors: Furr Allison Crane , Chaston John , Terry Benjamin S. 
Published: October 2024

Abstract
This study presents a novel approach to monitoring pH changes in the cecum, a critical step toward understanding the dynamic interactions between the gut microbiota and probiotics. By repurposing the Bravo® capsule, originally designed for esophageal pH monitoring, we demonstrate its potential for accurate, continuous, and nonobstructive pH detection within a simulated cecal environment. To facilitate this investigation, we introduce the first synthetic cecal content (SCC) formulation. Our formulation closely mimics the mechanical properties of porcine cecal contents, particularly in terms of viscosity and shear response. This SCC recipe addresses a significant gap in the availability of simulated biological fluids for in vitro medical device testing. Rheometric analyses confirm the SCC's consistency with biological cecal contents, providing a cost-effective and efficient platform for preliminary device evaluations. Experimental results show that the Bravo® capsule can accurately detect pH changes within the SCC, closely matching readings from a handheld pH probe. The successful validation of the Bravo® capsule's performance in a simulated cecal environment, along with the development of a reliable SCC formulation, paves the way for future in vivo studies in porcine models. This research represents a significant advancement in the field of gut microbiome monitoring and holds promise for the development of targeted, microbiome-based therapeutics. By enabling real-tim/e, in situ analysis of the cecal microbiota's response to various interventions, this approach has the potential to revolutionize our understanding of the complex interplay between probiotics, diet, and gut health.
Human-Centered Coordination for Robot-Assisted Equipment Transport
Authors: Fernandez Joshua , Cosby Austin , Mazumdar Anirban 
Published: October 2024

Abstract
This work explores how to use an unmanned ground vehicle (UGV) to offload the physical burdens of equipment from humans. This work formulates dynamic alignment following and compares it to position-based following techniques. We describe the control strategies of both following methods and implement them in a dynamic simulation and a physical prototype. We test the performance of the two following methods and show that dynamic alignment following can reduce robot positional error and interaction force between the human and the robot. We then analyze the energetics and the performance of the human–UGV team for candidate transportation tasks. The presence of the robot can make some tasks take longer to perform. Nonetheless, the results show that for the candidate tasks, the robot can reduce human average metabolic power and average overall task energy.
State of Health Estimation Method for Lithium-Ion Batteries Based on Multifeature Fusion and BO-BiGRU Model
Authors: Zhu Junchao , Zhang Jun , Kang Jian , Liu ChengZhi , Chen Hua , Wu Tiezhou 
Published: October 2024

Abstract
The state of health (SOH) of lithium-ion batteries is a crucial parameter for assessing battery degradation. The aim of this study is to solve the problems of single extraction of health features (HFs) and redundancy of information between features in the SOH estimation. This article develops an SOH estimation method for lithium-ion batteries based on multifeature fusion and Bayesian optimization (BO)-bidirectional gated recurrent unit (BiGRU) model. First, a total of eight HFs in three categories, namely, time, energy, and probability, can be extracted from the charging data to accurately describe the aging mechanism of the battery. The Pearson and Spearman analysis method verified the strong correlation between HFs and SOH. Second, the multiple principal components obtained by kernel principal component analysis (KPCA) can eliminate the redundancy of information between HFs. The principal component with the highest correlation with SOH is selected by bicorrelation analysis to be defined as the fused HF. Finally, to improve SOH estimation accuracy, the BO-BiGRU model is proposed. The proposed method is validated using battery datasets from NASA. The results show that the SOH estimation accuracy of the BO-BiGRU model proposed in this article is high, while mean absolute error (MAE) is lower than 1.2%. In addition, the SOH of the lithium battery is estimated using different proportions of test sets, and the results show that the root-mean-square error (RMSE) and the mean absolute percentage error (MAPE) of the SOH remain within 3%, with high estimation accuracy and robustness.
Complete genome sequence of
Serratia plymuthica
SWSY-3.47
Authors: Takahashi Himari , Warashina Tomoro , Takahashi Yui , Tanaka Mayuki , Suzuki Kazushi , Morita Teppei , Arakawa Kazuharu 
Published: October 2024

ABSTRACT

Serratia plymuthica
strain SWSY-3.47 is a Gram-negative, rod-shaped bacteria isolated for its high chitinolytic activity. Here, we report the complete genome of this strain comprised of a single circular chromosome of 5,636,345 bp with a G + C content of 56.0%.
Supplemental Material: New insights on gravity flow dynamics during submarine canyon flushing events
Authors: Ribo Marta , al. et 
Published: October 2024

<p> Supplemental figures: DTIS seafloor imagery showing the erosive and depositional features (Figs. S1 and S4) and the distribution downcanyon of the wave height and wavelength of the different depositional features (Figs. S2 and S3). </p>
Progress of nations in the organisation of, and structures for, kidney care delivery between 2019 and 2023: cross sectional survey in 148 countries
Authors: Okpechi Ikechi G , Levin Adeera , Tungsanga Somkanya , Arruebo Silvia , Caskey Fergus J , Chukwuonye Innocent I , Damster Sandrine , Donner Jo-Ann , Ekrikpo Udeme E , Ghimire Anukul , Jha Vivekanand , Luyckx Valerie , Nangaku Masaomi , Saad Syed , Tannor Elliot K , Tonelli Marcello , Ye Feng , Bello Aminu K , Johnson David W 
Published: October 2024

Abstract

Objective
To assess changes in key measures of kidney care using data reported in 2019 and 2023.

Design
Cross sectional survey in 148 countries.

Setting
Surveys from International Society of Nephrology Global Kidney Health Atlas between 2019 and 2023 that included participants from countries in Africa (n=36), Eastern and Central Europe (n=16), Latin America (n=18), the Middle East (n=11), Newly Independent States and Russia (n=10), North America and the Caribbean (n=8), North and East Asia (n=6), Oceania and South East Asia (n=15), South Asia (n=7), and Western Europe (n=21).

Participants
Countries that participated in both surveys (2019 and 2023).

Main outcome measures
Comparison of 2019 and 2023 data for availability of kidney replacement treatment services, access, health financing, workforce, registries, and policies for kidney care. Data for countries that participated in both surveys (2019 and 2023) were included in our analysis. Country data were aggregated by International Society of Nephrology regions and World Bank income levels. Proportionate changes in the status of these measures across both periods were reported.

Results
Data for 148 countries that participated in both surveys were available for analysis. The proportions of countries that provided public funding (free at point of delivery) increased from 27% in 2019 to 28% in 2023 for haemodialysis, 23% to 28% for peritoneal dialysis, and 31% to 36% for kidney transplantation services. Centres for these treatments increased from 4.4 per million population (pmp) to 4.8 pmp (P<0.001) for haemodialysis, 1.4 pmp to 1.6 pmp for peritoneal dialysis, and 0.43 pmp to 0.46 pmp for kidney transplantation services. Overall, access to haemodialysis and peritoneal dialysis improved, however, access to kidney transplantation decreased from 30 pmp to 29 pmp. The global median prevalence of nephrologists increased from 9.5 pmp to 12.4 pmp (P<0.001). Changes in the availability of kidney registries and in national policies and strategies for kidney care were variable across regions and country income levels. The reporting of specific barriers to optimal kidney care by countries increased from 55% to 59% for geographical factors, 58% to 68% (P=0.043) for availability of nephrologists, and 46% to 52% for political factors.

Conclusions
Important changes in key areas of kidney care delivery were noted across both periods globally. These changes effected the availability of, and access to, kidney transplantation services. Countries and regions need to enact enabling strategies for preserving access to kidney care services, particularly kidney transplantation.
Public health involvement in alcohol licensing decisions in the UK: a systematic review of qualitative studies
Authors: Rogerson Marie , Blank Lindsay , Clowes Mark , Hock Emma , Goyder Elizabeth 
Published: October 2024

IntroductionOne approach to reducing alcohol consumption and related harm is to limit physical availability. However, a recent review found alcohol licensing decisions are not consistently associated with improved local health outcomes in the UK, despite public health teams (PHTs) having a statutory role in licensing. This may be explained by limitations in regulatory powers, or because PHTs have been unable to sufficiently influence the use of regulation. This review aims to synthesise qualitative evidence to understand the nature, barriers and enablers, and value of PHT involvement in alcohol licensing decisions in the UK.MethodsA systematic review of qualitative evidence was conducted. Five electronic databases were searched, supplemented by web searches for grey literature and author, reference and citation searches for included studies. Data was extracted and quality assessed using the Critical Appraisal Skills Programme (CASP) checklist. Data was synthesised using thematic synthesis, and confidence in the findings was judged using the Confidence in Evidence from Reviews of Qualitative research (CERQual) approach.Results10 reports, relating to four separate studies, met the eligibility criteria. Thematic synthesis generated seven analytical themes. We found variation in how PHTs’ role in licensing is understood and enacted, with shared barriers and enablers. PHTs are often not regarded as a key consultee, though some teams found success in pursuing a more strategic approach. While the public health licensing objective in Scotland is considered an asset, it does not guarantee influence. Regardless of its presence, there is variation in the perceived value of PHTs’ involvement in licensing.ConclusionsA more strategic focus may be of value to PHTs and help strengthen their impact on licensing. However, given the limited potential for public health benefits through influencing regulatory decision-making, PHTs may want to consider if it is the most effective use of limited resource in tackling alcohol-related harms.PROSPERO registration numberCRD42023452508.
Herwig 7.3 release note
Authors: Bewick Gavin , Ferrario Ravasio Silvia , Gieseke Stefan , Kiebacher Stefan , Masouminia Mohammad R. , Papaefstathiou Andreas , Plätzer Simon , Richardson Peter , Samitz Daniel , Seymour Michael H. , Siódmok Andrzej , Whitehead James 
Published: October 2024

AbstractA new release of the Monte Carlo event generator (version 7.3) has been launched. This iteration encompasses several enhancements over its predecessor, version 7.2. Noteworthy upgrades include: the implementation of a process-independent electroweak angular-ordered parton shower integrated with QCD and QED radiation; a new recoil scheme for initial-state radiation improving the behaviour of the angular-ordered parton shower; the incorporation of the heavy quark effective theory to refine the hadronization and decay of excited heavy mesons and heavy baryons; a dynamic strategy to regulate the kinematic threshold of cluster splittings within the cluster hadronization model; several improvements to the structure of the cluster hadronization model allowing for refined models; the possibility to extract event-by-event hadronization corrections in a well-defined way; the possibility of using the string model, with a dedicated tune. Additionally, a new tuning of the parton shower and hadronization parameters has been executed. This article discusses the novel features introduced in version 7.3.0.
Shadow of a renormalization group improved rotating black hole
Authors: Sánchez Luis A. 
Published: October 2024

AbstractWe present a study on quantum gravity effects on the shadow of a rotating black hole (BH) obtained in the setting of the asymptotically safe gravity. The rotating metric, which results from a static regular one recently presented in the literature, is generated by using the generalized Newman-Janis algorithm. The novelty of the static regular metric lies in the fact that it is the outcome of an effective Lagrangian which describes dust whose spherically symmetric collapse is non-singular as a consequence of the antiscreening character of gravity at small distances. The effective Lagrangian includes a multiplicative coupling, denoted as $$\chi $$
χ
, with the Lagrangian of the collapsing fluid. The resulting exterior metric for large radii depends on a free parameter $$\xi $$
ξ
which captures the quantum gravity effects. The form of the coupling $$\chi $$
χ
and its connection with the quantum parameter $$\xi $$
ξ
are determined by the running of the Newton coupling G(k) along a renormalization group trajectory that stops at the ultraviolet non-gaussian fixed point of the asymptotic safety theory for quantum gravity. Varying both the spin parameter $$a_{\star }$$

a
⋆

and the quantum parameter $$\xi $$
ξ
, we explore the quantum gravity effects on several astronomical observables used to describe the morphology of the shadow cast by rotating BHs. In order to obtain constraints on the parameter $$\xi $$
ξ
, we confront our results with the recent Event Horizon Telescope (EHT) observations of the shadows of the supermassive BHs $$\hbox {M87}^*$$

M87
∗

and Sgr $$\hbox {A}^*$$

A
∗

. We find that the ranges of variation of all the studied shadow observables fall entirely within the ranges determined by the EHT collaboration. We then conclude that the current astronomical data do not rule out the renormalization group improved rotating BH.