This paper discusses dynamic step-crossing capability of pendulum-driven ball-shaped robots. We introduce an extended dynamic model that allows modeling of ballrobot rolling, bouncing and slipping. Based on the new model, our simulations predict the maximum over-passable step-height for the robot. The simulation results agree well with the result from a parallel simulation in Adamssoftware as w...

This study discusses kinematic and dynamic precession models for a rolling ball with a finite contact area and a point contact respectively. In literature, both conventions have been applied. In this paper, we discuss in detail the kinematic and dynamic models to describe the ball precession and the radius of a circular rolling path. The kinematic model can be used if the contact area and frict...

In this paper the authors describe the VESBALL, which is a ballshaped musical interface designed for group music therapy. Therapy sessions take the form of “musical ensembles” comprised of individuals with Autism Spectrum Disorder (ASD), typically led by one or more certified music therapists. VESBALL had been developed in close consultation with therapists, clients, and other stakeholders, and...

A 67-year-old man was admitted to the cardiology department because of exertional dyspnea and orthopnea aggravated for 10 days. Transthoracic echocardiography showed dilated left ventricle (LV) with global hypokinesia with severely decreased systolic function (ejection fraction was estimated to be about 15%). Two oscillating masses with smooth, spherical contour were found in the LV apex (Fig. ...

A high yield synthesis of the first silanedithiolate silanolate is reported which spontaneously assembles forming an inorganic rugby ball shaped 32 vertex polyhedral cluster stabilized by sterically demanding 2,6-dimesitylphenyl substituents and two LiCl units.

Abstract Tribological properties of biomass-derived oils (bio-oils) were experimentally investigated, and the compared with that standard mineral used for lubrication purposes. Bio-oils obtained from fast pyrolysis (using poultry pine), gasification (“gasitar” using pine) hydrothermal liquefaction processes Scenedesmus Nannocholoropsis). The friction wear tests conducted a ball on disk tribomet...

A 4-year-old female native goat with the history of inappetence and no defecation was referred to the Department of Clinical Sciences, School of Veterinary Medicine of Shiraz, Shiraz, southern Iran. During exploratory laparotomy, pyloric obstruction and displacement of the abomasum to the left side was observed. Obstruction of pylorus was due to a ball-shaped phytobezoar. The goat was followed ...