Mathematical simulation of a seven link biped robot on various surfaces and ZMP considerations

In recent years, numerous researches have been done based on simulation of legged mechanism, especially on biped robots simulation and control. The following article focuses on the biped robot simulation and control over various manners such as horizontal, ascending and descending surfaces with the aid of mathematical modeling methods (in MATLAB/SIMULINK environment). Similar parameters to human walking process will be obtained such as ZMP and joint’s actuator torques. The mathematical simulation has been used to interpolate trajectory of the robot path with the given break points. Of course, after the robot’s path determination, third-order spline method will be used because of the very high precision and ability to calculate the kinematic and dynamic parameters. With the aid of this program, common parameters such as linear and angular velocity and acceleration, joint’s angles and inertial forces for the given specifications and conditions (Nominal, no disturbances) will be calculated and simulated. Also, the two types of ZMP (Fixed and moving) have been considered and calculated with the aid of the software.     

A three‐component,one‐pot synthesis of oxazinoquinolin‐3‐one derivatives

Oxazino[5,6‐f]quinolin‐3‐one derivatives have been synthesized in a one‐pot, and efficient process by condensation of 6‐quinolinol, aromatic aldehydes and urea under microwave‐assisted and thermal solvent‐free conditions.     

The Effect of Rainbow Trout (Oncorhynchus mykiss) Collagen Incorporated with Exo-Polysaccharides Derived from Rhodotorula mucilaginosa sp. on Burn Healing

Burn is one of the physically debilitating injuries that can be potentially fatal; therefore, providing appropriate coverage in order to reduce possible mortality risk and accelerate wound healing is mandatory. In this study, collagen/exo-polysaccharide (Col/EPS 1–3%) scaffolds are synthesized from rainbow trout (Oncorhynchus mykiss) skins incorporated with Rhodotorula mucilaginosa sp. GUMS16, respectively, for promoting Grade 3 burn wound healing. Physicochemical characterizations and, consequently, biological properties of the Col/EPS scaffolds are tested. The results show that the presence of EPS does not affect the minimum porosity dimensions, while raising the EPS amount significantly reduces the maximum porosity dimensions. Thermogravimetric analysis (TGA), FTIR, and tensile property results confirm the successful incorporation of the EPS into Col scaffolds. Furthermore,the biological results show that the increasing EPS does not affect Col biodegradability and cell viability, and the use of Col/EPS 1% on rat models displays a faster healing rate. Finally, histopathological examination reveals that the Col/EPS 1% treatment accelerates wound healing, through greater re-epithelialization and dermal remodeling, more abundant fibroblast cells and Col accumulation. These findings suggest that Col/EPS 1% promotes dermal wound healing via antioxidant and anti-inflammatory activities, which can be a potential medical process in the treatment of burn wounds.