Influence of “J”-Curve Spring Stiffness on Running Speeds of Segmented Legs during High-Speed Locomotion

Both the linear leg spring model and the two-segment leg model with constant spring stiffness have been broadly used as template models to investigate bouncing gaits for legged robots with compliant legs. In addition to these two models, the other stiffness leg spring models developed using inspiration from biological characteristic have the potential to improve high-speed running capacity of spring-legged robots. In this paper, we investigate the effects of “J”-curve spring stiffness inspired by biological materials on running speeds of segmented legs during high-speed locomotion. Mathematical formulation of the relationship between the virtual leg force and the virtual leg compression is established. When the SLIP model and the two-segment leg model with constant spring stiffness and with “J”-curve spring stiffness have the same dimensionless reference stiffness, the two-segment leg model with “J”-curve spring stiffness reveals that (1) both the largest tolerated range of running speeds and the tolerated maximum running speed are found and (2) at fast running speed from 25 to 40/92 m s−1 both the tolerated range of landing angle and the stability region are the largest. It is suggested that the two-segment leg model with “J”-curve spring stiffness is more advantageous for high-speed running compared with the SLIP model and with constant spring stiffness

Functional nanofibrous biomaterials of tailored structures for drug delivery—a critical review

Nanofibrous biomaterials have huge potential for drug delivery, due to their structural features and functions that are similar to the native extracellular matrix (ECM). A wide range of natural and polymeric materials can be employed to produce nanofibrous biomaterials. This review introduces the major natural and synthetic biomaterials for production of nanofibers that are biocompatible and biodegradable. Different technologies and their corresponding advantages and disadvantages for manufacturing nanofibrous biomaterials for drug delivery were also reported. The morphologies and structures of nanofibers can be tailor-designed and processed by carefully selecting suitable biomaterials and fabrication methods, while the functionality of nanofibrous biomaterials can be improved by modifying the surface. The loading and releasing of drug molecules, which play a significant role in the effectiveness of drug delivery, are also surveyed. This review provides insight into the fabrication of functional polymeric nanofibers for drug delivery

The number and degree distribution of spanning trees in the Tower of Hanoi graph

The number of spanning trees of a graph is an important invariant related to topological and dynamic properties of the graph, such as its reliability, communication aspects, synchronization, and so on. However, the practical enumeration of spanning trees and the study of their properties remain a challenge, particularly for large networks. In this paper, we study the number and degree distribution of the spanning trees in the Hanoi graph. We first establish recursion relations between the number of spanning trees and other spanning subgraphs of the Hanoi graph, from which we find an exact analytical expression for the number of spanning trees of the n-disc Hanoi graph. This result allows the calculation of the spanning tree entropy which is then compared with those for other graphs with the same average degree. Then, we introduce a vertex labeling which allows to find, for each vertex of the graph, its degree distribution among all possible spanning trees.Postprint (author's final draft

Modelling coastal boundary layer flows over typical bed-forms

This paper presents details of hydrodynamics, turbulence characteristics, sediment concentrations and transport rates computed by a new three-dimensional numerical boundary layer model above typical coastal bed-forms. Comparisons are made against a large number of available laboratory and field measurements covering situations of current alone, wave alone, and combined wave and current, which demonstrate the model's ability to simulate the complex structure of flow interactions as well as the associated sediment transport processes with reasonably good accuracy. The model results are also parameterised by averaging over both bed-form length and wave period in an attempt to produce improved relations of the overall bed-form-induced roughness height and equivalent near-bed reference concentration for engineering morphological modelling. Verifications of these averaged results against some simple engineering predictors show realistic agreements along with some noticeable differences. Where differences are found, modifications are also suggested to the existing engineering formulae in order to improve their predictions for complex flows. Further model testing is also suggested to refine the constants used for the proposed modifications

The performance of the copulas in estimating the joint probability of extreme waves and surges along east coasts of the mainland China

In designing coastal and nearshore structures, the joint probability of the wave heights and storm surges is essential in determining the possible highest total water level. The key elements to accurately estimate the joint probability are the appropriate sampling of the extreme values and selection of probability functions for the analysis. This study is to provide a full assessment of the performance of the different methods employed in the joint probability analysis. The bivariate extreme wave height and surge samples are analysed using 2 different probability distributions and the performance of 4 copulas, namely: Gumbel–Hougaard copula, Clayton copula, Frank copula and Galambos copula, is assessed. The possible highest total water levels for 100-year return period along the coastline of the mainland China are estimated by the joint probability method with the Gumbel–Hougaard copula. The results show that the wave heights and surges are highly correlated in the areas of dense typhoon paths. The distributions of the possible highest total water levels show a higher value in the southeast coast and lower value in the north. The results also indicate that at the locations where the sea states are energetic, the joint probability approach can improve the accuracy of design

Key Generation for Internet of Things: A Contemporary Survey

Key generation is a promising technique to bootstrap secure communications for the Internet of Things (IoT) devices that have no prior knowledge between each other. In the past few years, a variety of key generation protocols and systems have been proposed. In this survey, we review and categorise recent key generation systems based on a novel taxonomy. Then, we provide both quantitative and qualitative comparisons of existing approaches. We also discuss the security vulnerabilities of key generation schemes and possible countermeasures. Finally, we discuss the current challenges and point out several potential research directions

Impact of storm surge on the Yellow River Delta: Simulation and analysis

Storm surges can lead to serious natural hazards and pose great threats to coastal areas, especially developed deltas. Assessing the risk of storm surges on coastal infrastructures is crucial for regional economic development and disaster mitigation. Combining in situ observations, remote sensing retrievals, and numerical simulation, storm surge floods in the Yellow River Delta (YRD) were calculated in different scenarios. The results showed that NE wind can cause the largest flooding area of 630 km2, although the overall storm surge risk in the delta is at lower levels under various conditions. The coastal oilfields are principally at an increasing storm surge risk level. E and NE winds would result in storm surges of 0.9–1.4 m, increasing the risk of flooding in the coastal oilfields. Nearshore seabed erosion in storm events resulted in a decrease in inundation depths and inundation areas. To prevent and control storm surge disasters, we should adapt to local conditions. Different measures should be taken to prevent the disaster of storm surges on different seashores, such as planting saltmarsh vegetation to protect seawalls, while the key point is to construct and maintain seawalls on high-risk shorelines

Reduced Intrinsic Non-Radiative Losses Allow Room-Temperature Triplet Emission from Purely Organic Emitters

Persistent luminescence from triplet excitons in organic molecules is rare, as fast non-radiative deactivation typically dominates over radiative transitions. This work demonstrates that the substitution of a hydrogen atom in a derivative of phenanthroimidazole with an N-phenyl ring can substantially stabilize the excited state. This stabilization converts an organic material without phosphorescence emission into a molecular system exhibiting efficient and ultralong afterglow phosphorescence at room temperature. Results from systematic photophysical investigations, kinetic modeling, excited-state dynamic modeling, and single-crystal structure analysis identify that the long-lived triplets originate from a reduction of intrinsic non-radiative molecular relaxations. Further modification of the N-phenyl ring with halogen atoms affects the afterglow lifetime and quantum yield. As a proof-of-concept, an anticounterfeiting device is demonstrated with a time-dependent Morse code feature for data encryption based on these emitters. A fundamental design principle is outlined to achieve long-lived and emissive triplet states by suppressing intrinsic non-radiative relaxations in the form of molecular vibrations or rotations