Self-stabilization and behavioral diversity of embodied adaptive locomotion

Locomotion is of fundamental importance in understanding adaptive behavior. In this paper we present two case studies of robot locomotion that demonstrate how higher level of behavioral diversity can be achieved while observing the principle of cheap design. More precisely, it is shown that, by exploiting the dynamics of the system-environment interaction, very simple controllers can be designed which is essential to achieve rapid locomotion. Special consideration must be given to the choice of body materials. We conclude with some speculation about the importance of locomotion for understanding cognition. © Springer-Verlag Berlin Heidelberg 2004.

Extracellular carbohydrate polymers from five desert soil algae with different cohesion in the stabilization of fine sand grain

Extracellular polymeric substances (EPS) from four filamentous cyanobacteria Microcoleus vaginatus, Scytonema javanicum, Phormidium tenue and Nostoc sp. and a coccoid single-cell green alga Desmococcus olivaceus that had been separated from desert algal crusts of Tegger desert of China, were investigated for their chemical composition, structure,and physical properties. The EPS contained 7.5-50.3% protein (in polymers ranging from 14 to more than 200 kD, SDS-PAGE) and 16.2-46.5% carbohydrate (110-460 kD, GFC). 6-12 kinds of monosaccharides, including 2-O-methyl rhamnose, 2-O-methyl glucose, and N-acetyl glucosamine were found. The main carbohydrate chains from M. vaginatus and S. javanicum consisted mainly of equal proportion of Man, Gal and Glc, that from P. tenue consisted mainly of arabinose, glucose and rhamnose. Arabinose was present in pyranose form, mainly alpha-L 1 --> 3 linked, with branches on C4 of almost half of the units. Glucose was responsible for the terminal units, in addition of having some units as beta1 --> 3 and some as beta1 --> 4 linked. Rhamnose was mainly 1 --> 3 linked with branches on C2 on half of the units. The carbohydrate polymer from D. olivaceus was composed mainly of beta1 --> 4 linked xylose, galactose and glucose. The galactose part was present both in beta-pyranose and -furanose forms. Arabinose in alpha-L-furanose form was mainly present as 1 --> 2 and 1 --> 2, 5 linked units, rhamnose only as alpha 1 --> 3 and xylose as beta 1 --> 4. The backbone of the polysaccharide from Nostoc sp. was composed of beta-1 --> 4 linked xylose, galactose and glucose. Most of the glucose was branched on position C6, terminal glucose and 2-O-methyl glucose units are also present. The relationship between structure, physical properties and potential biological function is discussed. (C) 2003 Elsevier Ltd. All rights reserved.

Effect of desert soil algae on the stabilization of fine sands

Four filamentous cyanobacteria, Microcoleus vaginatus, Phormidium tenue, Scytonema javanicum (Kutz.) and Nostoc sp., and a single-celled green alga, Desmococcus olivaceus, all isolated from Shapotou (Ningxia Hui Autonomous Region of China), were batch cultured and inoculated onto unconsolidated sand in greenhouse and field experiments. Their ability to reduce wind erosion in sands was quantified by using a wind tunnel laboratory. The major factors related to cohesion of algal crusts, such as biomass, species, species combinations, bioactivity, niche, growth phase of algae, moisture, thickness of the crusts, dust accretion (including dust content and manner of dust added) and other cryptogams (lichens, fungi and mosses) were studied. The best of the five species were M. vaginatus and P. tenue, while the best mix was a blend of 80% M. vaginatus and 5% each of P. tenue, S. javanicum, Nostoc sp. and D. olivaceus. The threshold friction velocity was significantly increased by the presence of all of the cyanobacterial species, while the threshold impact velocity was notably increased only by the filamentous species. Thick crusts were less easily eroded than thin crusts, while biomass was more effective than thickness. Dust was incorporated best into Microcoleus crust when added in small amounts over time, and appeared to increase growth of the cyanobacterium as well as strengthen the cohesion of the crust. Microbial crust cohesion was mainly attributed to algal aggregation, while lichens, fungi and mosses affected more the soil structure and physico-chemical properties.

Passive stabilization of a passively mode-locked Nd : GdVO4 laser by inverse saturable absorption

A diode-pumped Nd:GdVO4 laser mode-locked by a semiconductor saturable absorber and output coupler (SESAOC) is passively stabilized to suppress Q-switched mode-locking. A phase mismatched 131130 second-harmonic generation (SHG) crystal is used for passive stabilization. The continuous wave mode-locking (CWML) threshold is reduced and the pulse width is compressed. The pulse width is 6.5 ps as measured at the repetition rate of 128 MHz. (c) 2007 Elsevier B.V. All rights reserved.

Shell effect on stabilization processes following multi-electron transfer in slow Arq+-Ar (g=6-9, 11) collisions

We experimentally investigate the shell effect on the stabilization processes following the multi-electron transfer in slow collisions of Arq+-Ar (q = 6-9, It) The relative cross-section ratios of multi-electron transfer and of the subsequent stabilization with respect to single-electron capture are measured meanwhile compared with the theoretical results predicted by the classical over-barrier model. Our result indicates that the multi-electron transfer is dominant when the projectile charge is large and the subsequent stabilization shows a dramatic variation if the projectile L-shell configuration becomes open. It shows that the subsequent stabilization processes of multiply excited scattering ions have a strong dependence on the projectile shell. (C) 2010 Elsevier BV All rights reserved.

Two Electron Transfer and Stabilization in Slow O6+ and Rare-Gas Collisions

The stabilization ratios.. for double-electron transfer, i.e., the cross section ratios of true double capture to total double-electron transfer, are measured in O6++ He, Ne and Ar collisions at 6 keV/u. A high.. value about 68% is obtained for the He target, while for the Ar target, the.. value is only 8%. The high R value for the He target is due to the significant direct population of the (2l, nl') configurations with high n For the Ar target, the (quasi) symmetric configurations (3l, nl') lead to the much lower.. value. Neglecting the core effects, the O6+ ion can be taken as a bare ion C6+ except the occupied 1s shell, and then the measured R values are compared with previous experimental results of C6+ projectile ions at similar impact velocity. It yields good agreement with the Ne and Ar target, while the occupied 1s shell for the O6++ He system results in a higher R value than that in C6++He collisions.

Stabilization of poly(lactic acid) by polycarbodiimide

Polycarbodiimide (CDI) was used to improve the thermal stability of poly(L-lactic acid) (PLA) during processing. The properties of PLA containing various amounts of CDI were characterized by GPC, DSC, rheology, and tensile tests. The results showed that an addition of CDI in an amount of 0.1-0.7 wt% with respect to PLA led to stabilization of PLA at even 210 degrees C for up to 30 min, as evidenced by much smaller changes in molecular weight. melt viscosity, and tensile strength and elongation compared to the blank PLA samples. In order to examine the possible stabilization mechanism, CDI was reacted with water, acetic acid, L-lactic acid, ethanol and low molecular weight PLA. The molecular structures of the reaction products were measured with FTIR.

Stabilization of Imidosamarium(III) Cubane by Amidinates

An imidosamarium(III) cubane has been prepared from the reductive cleavage of azobenzene by a divalent samarium bis (amidinate) complex, indicating that the "spectratoe" bis(amidinate) and the resulting imido ligands help to stabilize the cubane framework. The cubane-type imido cluster is a novel unit in lanthanide chemistry.

Synthesis and Stabilization of Novel Aliphatic Polycarbonate from Renewable Resource

A novel aliphatic polycarbonate from renewable resource was prepared by copolymerization of furfuryl glycidyl ether and CO2 using rare earth ternary catalyst; its number-average molecular weight (M-n) reached 13.3 x 10(4) g/mol. The furfuryl glycidyl ether and CO2 copolymer (PFGEC) was easy to become yellowish at ambient atmosphere due to post polymerization cross-linking reaction oil the furan ring; the gel content was 17.2 wt % after 24 h exposure to air at room temperature. PFGEC could be stabilized by addition of antioxidant 1010 (tetrakis[methylene (3.5-di(tert-butyl)-4-hydroxhydrocinnamate)]methane) in 0.5-3 wt % after copolymerization. The Diels-Alder (DA) reaction between N-phenylmaleimide and the pendant furan ring was also effective for the stabilization of PFGEC by reducing the amount of furan ring and introducing bulky groups into PFGEC. The cyclization degree could reach 72.1% when the molar ratio of N-phenylmaleimide to furan ring was 3: 1, and no gel was observed after 24 h exposure to air. The glass transition temperature (T-g) of PFGEC was 6.8 degrees C, and it increased to 40.3 degrees C after DA reaction (molar ratio of N-phenylmaleimide to furan ring was 3: 1).

Stabilization of metastable phase II of isotactic polybutene-1 by coated carbon

Stabilization effect on metastable phase II of isotactic polybutene-1 (iPB-1) by coated carbon has been investigated by transmission electron microscopy (TEM) and electron diffraction (ED) techniques. The results indicate that after evaporating carbon, the phase II-I crystal transformation time is greatly prolonged from 9 days for carbon-uncoated samples to 120 days for carbon-coated ones under atmospheric pressure, while under high pressure (50 bar), the phase transformation time increases from 5 min for the former to 20 min for the latter. The stabilization effect on metastable phase II of carbon coated iPB-1 is attributed to a surface fixing effect of the evaporated carbon.