Linear multimodal actuation through discrete coupling

Due to technological limitations, robot actuators are often designed for specific tasks with narrow performance goals, whereas a wide range of behaviors is necessary for autonomous robots in uncertain complex environments. In an effort to increase the versatility of actuators, we introduce a new concept of multimodal actuation (MMA) that employs dynamic coupling in the form of clutches and brakes to change its mode of operation. The dynamic coupling allows motors and passive elements such as springs to be engaged and disengaged within a single actuator. We apply the concept to a linear series elastic actuator which uses friction brakes controlled online for the dynamic coupling. With this prototype, we are able to demonstrate several modes of operation including stiff position control, series elastic actuation as well as the possibility to store and release energy in a controlled manner for explosive tasks such as jumping. In this paper, we model the proposed concept of actuation and show a systematic performance analysis of the physical prototype that we developed in our laboratory. © 1996-2012 IEEE.

In situ thermoplastic thread formation for robot built structures

We demonstrate autonomous construction of structures using a robot arm that can fabricate threads of TPA (Thermoplastic Adhesive) in free space on the fly. TPA has many important material properties that help to greatly simplify the otherwise complex task of building structures in complex environments. We present a model for the formation of TPA strings based on plastic deformation which also includes the temperature dependent material properties which change significantly as the thread is formed and cools. Experiments of drawing TPA show that drawing forces due to the viscosity of the TPA are more dominated by the speed of drawing than the changes in viscosity due to temperature. The load bearing capacity of individual strings is also modelled and measured and structures are built using the TPA strings which due to the adhesiveness can be anchored to a wide range surfaces as well as to other strings. © 2013 IEEE.

Linear multi-modal actuation through discrete coupling

Due to technological limitations robot actuators are often designed for specific tasks with narrow performance goals, whereas a wide range of output and behaviours is necessary for robots to operate autonomously in uncertain complex environments. We present a design framework that employs dynamic couplings in the form of brakes and clutches to increase the performance and diversity of linear actuators. The couplings are used to switch between a diverse range of discrete modes of operation within a single actuator. We also provide a design solution for miniaturized couplings that use dry friction to produce rapid switching and high braking forces. The couplings are designed so that once engaged or disengaged no extra energy is consumed. We apply the design framework and coupling design to a linear series elastic actuator (SEA) and show that this relatively simple implementation increases the performance and adds new behaviours to the standard design. Through a number of performance tests we are able to show rapid switching between a high and a low impedance output mode; that the actuator's spring can be charged to produce short bursts of high output power; and that the actuator has additional passive and rigid modes that consume no power once activated. Robots using actuators from this design framework would see a vast increase in their behavioural diversity and improvements in their performance not yet possible with conventional actuator design. © 2012 IEEE.

Exploiting passive dynamics for robot throwing task

Throwing is a complex and highly dynamic task. Humans usually exploit passive dynamics of their limbs to optimize their movement and muscle activation. In order to approach human throwing, we developed a double pendulum robotic platform. To introduce passivity into the actuated joints, clutches were included in the drive train. In this paper, we demonstrate the advantage of exploiting passive dynamics in reducing the mechanical work. However, engaging and disengaging the clutches are done in discrete fashions. Therefore, we propose an optimization approach which can deal with such discontinuities. It is shown that properly engaging/disengaging the clutches can reduce the mechanical work of a throwing task. The result is compared to the solution of fully actuated double pendulum, both in simulation and experiment. © 2012 IEEE.

Resting metabolism and heat increment of feeding in mandarin fish (Siniperca chuatsi) and Chinese snakehead (Channa argus)

Resting metabolism was measured in immature mandarin fish Siniperca chuatsi weighing 42.1-510.2 g and Chinese snakehead Channa argus weighing 41.5-510.3 g at 10, 15, 20, 25, 30 and 35 degreesC. Heat increment of feeding was measured in mandarin fish weighing 202.0 (+/-14.0) g and snakehead weighing 200.8 (+/-19.3) g fed swamp leach Misgurnus anguillicaudatus at 1% body weight per day at 28 degreesC. In both species, weight exponent in the power relationship between resting metabolism and body weight was not affected by temperature. The relationship between resting metabolism and temperature could be described by a power function. The temperature exponent was 1.39 in mandarin fish and 2.10 in snakehead (P < 0.05), indicating that resting metabolism in snakehead increased with temperature at a faster rate than in mandarin fish. Multiple regression models were used to describe the effects of body weight (W, g) and temperature (T, C) on the resting metabolism (R-s, mg O-2/h): In R-s = - 5.343 + 0.772 In W + 1.387 In T for the mandarin fish and In R-s = -7.863 + 0.801 ln W + 2.104 In T for the Chinese snakehead. The proportion of food energy channelled to heat increment was 8.7% in mandarin fish and 6.8% in snakehead. (C) 2000 Elsevier Science Inc. All rights reserved.

Time course of foreign gene integration and expression in transgenic fish embryos

Using a nuclear transplantation approach, the integration and expression of the green fluorescent protein (GFP) gene in the embryogenesis of transgenic leach (Misgurnus anguillicaudatus Cantor) have been studied. The GFP gene expression is first observed at the gastrula stage, which is consistent with the initiation of cell differentiation of fish embryos. The time course of the foreign gene expression is correlated with the regulatory sequences. The expression efficiency also depends on the gene configuration: the expression of pre-integrating circular plasmid at early embryos is higher than that of the linear plasmid. The integration of the GFP gene is first detected at the blastula stage and lasts for quite a long period. When two types of different plasmids are co-injected into fertilized eggs, the behavior of their integration and expression is not identical.

Extraction and recovery of cerium(IV) along with fluorine(I) from bastnasite leaching liquor by DEHEHP in [C(8)mim]PF6

BACKGROUND: Ionic liquids (ILs) as environmentally benign solvents have been widely studied in the application of solvent extraction. However, few applications have been successfully industrialized because of the difficult stripping of metal ions or the loss of components of the ILs. More work needs to be done to investigate the extraction behaviour of IL-based extraction systems. In this work, the extraction behaviour of Ce(IV), Th(IV) and some trivalent rare earth (RE) nitrates by di(2-ethylhexyl) 2-ethylhexylphosphonate (DEHEHP) in the IL, 1-methyl-3-octylimidazolium hexafluorophosphate ([C(8)mim]PF6), was investigated and compared with that in the n-heptane system. In particular, the effect of F(I) on the extraction mechanism for Ce(IV) and its separation from Th(IV) was investigated. Otherwise, the recovery efficiency of Ce(IV) and F(I) from a practical bastnasite leach liquor was examined using IL based extraction.

Sensitive biomimetic sensor based on molecular imprinting at functionalized indium tin oxide electrodes

We initially report an electrochemical sensing platform based on molecularly imprinted polymers (MIPs) at functionalized Indium Tin Oxide Electrodes (ITO). In this research, aminopropyl-derivatized organosilane aminopropyltriethoxysilane (APTES), which plays the role of functional monomers for template recognition, was firstly self-assembled on an ITO electrode and then dopamine-imprinted sol was spin-coated on the modified surface. APTES which can interact with template dopamine (DA) through hydrogen bonds brought more binding sites located closely to the surface of the ITO electrode, thus made the prepared sensor more sensitive for DA detection. Potential scanning is presented to extract DA from the modified film, thus DA can rapidly and completely leach out. The affinity and selectivity of the resulting biomimetic sensor were characterized using cyclic voltammetry (CV). It exhibited an increased affinity for DA over that of structurally related molecules, the anodic current for DA oxidation depended on the concentration of DA in the linear range from 2 x 10(-6) M to 0.8 x 10(-3) M with a correlation coefficient of 0.9927.In contrast, DA-templated film prepared under identical conditions on a bare ITO showed obviously lower response toward dopamine in solution.

俯冲带深部流体特征——以西南天山变质俯冲杂岩为例

The subduction zone is an important site of the fluid activity and recycling of chemical elements. The fluid characteristic of deep subduction zones is a top scientific problem attracting the petrologists, geochemists and tectonists. In this dissertation, the characteristics of fluid activity within a deep subduction zone have been explored on the basis of the studies on the petrography, mineral chemistry, fluid inclusions, geochemistry and metamorphic P–T conditions of the omphacite-bearing high-pressure veins and related hosts from the low-temperature/high-pressure metamorphic belt in southwestern Tianshan, China. Multiple high-pressure veins are exposed in host eclogites and blueschists. The veins are composed predominantly of omphacite, garnet, quartz, and other minerals. Some veins contain cm-sized rutiles. In general, the vein can be divided into three types, the ‘in situ dehydration’ vein, the ‘external transport’ vein and the ‘composite’ vein. The omphacites within the veins and related host rocks contain lots of two-phase or three-phase primary fluid inclusions. The final melting temperature (Tfm) of fluid inclusions varies mainly from -0.6 to -4.3 °C, the homogeneous temperature (Th) varies from 185 to 251 °C, the salinity varies from 1.1 to 6.9 wt.% NaCl equivalent and the density varies from 0.81 to 0.9 g/cm3. The fluids were released under the conditions of T = 520–580°C and P = 15–19 kbar at blueschist facies to eclogite facies transition. The fluids include not only Li, Be, LILE, La, Pb-enriched and HFSE- and HREE-depleted aqueous fluids but also HFSE (Ti-Nb-Ta)-rich aqueous fluids. The complex composed of aluminosilicate polymers and F was the catalyst which had caused the Ti-Nb-Ta to be dissolved into the fluids. During the transport of the LILE-rich and HFSE- and HREE-poor fluids, they can exchange some chemical elements with country rocks and leach some trace elements in some extent. The rutile could be precipitated from the HFSE (Ti-Nb-Ta)-rich aqueous fluids when CO2 was added into the fluids. The host rocks could obtain some elements, such as Ca, Cs, Rb, Ba and Th, from the external fluids. The fluids with complex composition had been released within the deep subduction zone (>50 km) in Early Carboniferous during the subduction of the South Tianshan Ocean under the Yili–Central Tianshan Plate. The results obtained in this dissertation have made new progress compared with the published data (e.g. Tatsumi, 1989; Becker et al., 1999; Scambelluri and Philippot, 2001; Manning, 2004; Hermann et al., 2006; Spandler and Hermann, 2006).

地球化学新方法在隐状矿床找矿预测中的应用研究

With the progress of prospecting, the need for the discovery of blind ore deposits become more and more urgent. To study and find out the method and technology for the discovery of blind and buried ores is now a priority task. New geochemical methods are key technology to discover blind ores. Information of mobile components related to blind ores were extracted using this new methods. These methods were tested and applied based on element' s mobile components migrating and enriched in geophysical-geochemical process. Several kinds of partial extraction techniques have tested based on element' s occurrence in hypergenic zone. Middle-large scale geochemical methods for exploration in forest and swamp have been tested. A serious of methods were tested and applied effetely about evaluation of regional geochemical anomaly, 1:25000 bedrock or soil geochemical methods sampling based on the net in dendritic water system instead of the normal net. 1. Element related with ores can be mobiled to migrate upwards and be absorpted by surface soil. These abnomal components can be concentrated by natural or artificial methods. These trace metalic ions partially exist in dissovlvable ion forms of active state, and partially have been absorbed by Fe-Mn oxide, soil and organic matter in the soil so that a series of reaction such as complex reaction have take place. Employing various partial extraction techniques, metallic ions related with the phase of the blind ores can be extracted, such as the technique of organic complex extraction, Fe-Mn oxide extraction and the extraction technique of metallic ions of various absorption phases. 2.1:200000 regional geochemical evaluation anomaly methods: Advantageous ore-forming areas were selected firstly. Center, concentration, morphological feature, belt of anomaly were choosed then. Geological and geochemical anomalies were combined. And geological and geochemical background information were restrained. Xilekuduke area in Fuyun sheet , Zhaheba area in Qiakuerte sheet, the west-north part in Ertai sheet and Hongshanzui anomaly in Daqiao sheet were selected as target areas, in Alertai, in the north of Xinjiang. in Xilekuduke area, 1:25000 soil geochemical methods sampling based on the net in dendritic water system was carried out. Cu anomaly and copper mineralization were determined in the center area. Au , Cu anomalies and high polarization anomaly were determined in the south part. Prospecting by primary halo and organic complex extraction were used to prognosis blind ore in widely rang outcrop of bedrock. 1:25000 bedrock or soil geochemical methods sampling based on the net in dendritic water system were used in transported overburden outside of mining area. Shallow seismic method and primary halo found a new blind orebody in mining area. A mineralization site was fou and outside of Puziwan gold mine, in the north of Shanxi province. Developing middle-large scale geochemical exploration method is a key technique based 1:200000 regional geochemical exploration. Some conditions were tested as Sampling density , distribution sites of sample, grain size of sample and occurrence of element for exploration. 1:50000 exploration method was advanced to sample clast sediment supplement clast sediment in valley. 1:25000 bedrock or soil geochemical methods sampling based on the net in dendritic water system was applied to sample residual material in A or C horizon. 1:2000 primary or soil halo methods used to check anomalies and determine mineralization. Daliang gold mineralization in the northern Moerdaoga was found appling these methods. Thermomagnetic method was tested in miniqi copper-polymetallic ore. Process methods such as grain size of sample, heated temperature, magnetic separating technique were tested. A suite of Thermomagnetic geochemical method was formed. This method was applied in Xiangshan Cu~Ni deposit which is cover by clast or Gobi in the eastern Xinjiang. Element's content and contrast of anomaly with Thermomagnetic geochemical method were higher than soil anomaly. Susceptibility after samples were heated could be as a assessment conference for anomaly. In some sectors thermo-magnetic Cu, Ni, Ti anomalious were found outside deposits area. There were strong anomal ies response up ore tested by several kind of partial extraction methods include Thermomagnetic, enzyme leach and other partial extractions in Kalatongke Cu-Ni deposit in hungriness area in the northern of Xinjiang. Element's anomalies of meobile were mainly in Fe-Mn oxide and salt. A Copper mineralization site in Xilekuduke anomaly area had been determined. A blind ore was foung by shallow seismic and geochemical method and a mineralization site was found outside this mining area in Puziwan gold deposit in shanxi province. A Gold mineralization site was found by 1:50000 geochemical exploration in Daliang, Inner Mongolia.

Biomethane production from food waste and organic residues

Anaerobic digestion (AD) of biodegradable waste is an environmentally and economically sustainable solution which incorporates waste treatment and energy recovery. The organic fraction of municipal solid waste (OFMSW), which comprises mostly of food waste, is highly degradable under anaerobic conditions. Biogas produced from OFMSW, when upgraded to biomethane, is recognised as one of the most sustainable renewable biofuels and can also be one of the cheapest sources of biomethane if a gate fee is associated with the substrate. OFMSW is a complex and heterogeneous material which may have widely different characteristics depending on the source of origin and collection system used. The research presented in this thesis investigates the potential energy resource from a wide range of organic waste streams through field and laboratory research on real world samples. OFMSW samples collected from a range of sources generated methane yields ranging from 75 to 160 m3 per tonne. Higher methane yields are associated with source segregated food waste from commercial catering premises as opposed to domestic sources. The inclusion of garden waste reduces the specific methane yield from household organic waste. In continuous AD trials it was found that a conventional continuously stirred tank reactor (CSTR) gave the highest specific methane yields at a moderate organic loading rate of 2 kg volatile solids (VS) m-3 digester day-1 and a hydraulic retention time of 30 days. The average specific methane yield obtained at this loading rate in continuous digestion was 560 ± 29 L CH4 kg-1 VS which exceeded the biomethane potential test result by 5%. The low carbon to nitrogen ratio (C: N <14:1) associated with canteen food waste lead to increasing concentrations of volatile fatty acids in line with high concentrations of ammonia nitrogen at higher organic loading rates. At an organic loading rate of 4 kg VS m-3day-1 the specific methane yield dropped considerably (381 L CH4 kg-1 VS), the pH rose to 8.1 and free ammonia (NH3 ) concentrations reached toxicity levels towards the end of the trial (ca. 950 mg L-1). A novel two phase AD reactor configuration consisting of a series of sequentially fed leach bed reactors connected to an upflow anaerobic sludge blanket (UASB) demonstrated a high rate of organic matter decay but resulted in lower specific methane yields (384 L CH4 kg-1 VS) than the conventional CSTR system.

Modelling and prototyping the conceptual design of 3D CMM micro-probe

This paper details the prototyping of a novel three axial micro probe based on utilisation of piezoelectric sensors and actuators for true three dimensional metrology and measurements at micro- and nanometre scale. Computational mechanics is used first to model and simulate the performance of the conceptual design of the micro-probe. Piezoelectric analysis is conducted to understand performance of three different materials - silicon, glassy carbon, and nickel - and the effect of load parameters (amplitude, frequency, phase angle) on the magnitude of vibrations. Simulations are also used to compare several design options for layout of the lead zirconium titanate (PZT) sensors and to identify the most feasible from fabrication point of view design. The material options for the realisation of the device have been also tested. Direct laser machining was selected as the primary means of production. It is found that a Yb MOPA based fiber laser was capable of providing the necessary precision on glassy carbon (GC), although machining trials on Si and Ni were less successful due to residual thermal effects.To provide the active and sensing elements on the flexures of the probe, PZT thick films are developed and deposited at low temperatures (Lt720 degC) allowing a high quality functional ceramic to be directly integrated with selected materials. Characterisation of the materials has shown that the film has a homogenous and small pore microstructure.

Central nervous system drugs: Low temperature X-ray structures of (I) the base 5-(2,3-dichlorophenyl)-2,4-diamino-6-fluoromethyl-pyrimidine (4030W92) and (II) 5-(2,6-dichlorophenyl)-1-H-2,4-diamino-6-methyl-pyrimidine methanesulphonic acid salt (227C89)

The X-ray crystal structures of (I), the base 4030W92, 5-(2,3-dichlorophenyl)-2,4-diamino-6-fluoromethyl-pyrimidine, C11H9Cl2FN4, and (II) 227C89, the methanesulphonic acid salt of 5-(2,6-dichlorophenyl)-1-H-2,4-diamino-6-methyl-pyrimidine, C11H11Cl2N4 center dot CH3O3S, have been carried out at low temperature. A detailed comparison of the two structures is given. Structure (I) is non-centrosymmetric, crystallizing in space group P2(1) with unit cell a = 10.821(3), b = 8.290(3), c = 13.819(4) angstrom, beta = 105.980(6)degrees, V = 1191.8(6) angstrom(3), Z = 4 (two molecules per asymmetric unit) and density (calculated) = 1.600 mg/m(3). Structure (II) crystallizes in the triclinic space group P (1) over bar with unit cell a = 7.686(2), b = 8.233(2), c = 12.234(2) angstrom, alpha = 78.379(4), beta = 87.195(4), gamma = 86.811(4)degrees, V = 756.6(2) angstrom(3), Z = 2, density (calculated) = 1.603 mg/m(3). Final R indices [I > 2sigma(I)] are R1 = 0.0572, wR2 = 0.1003 for (I) and R1 = 0.0558, wR2 = 0.0982 for (II). R indices (all data) are R1 = 0.0983, wR2 = 0.1116 for (I) and R1 = 0.1009, wR2 = 0.1117 for (II). 5- Phenyl-2,4 diaminopyrimidine and 6-phenyl-1,2,4 triazine derivatives, which include lamotrigine (3,5-diamino-6-(2,3-dichlorophenyl)-1,2,4-triazine), have been investigated for some time for their effects on the central nervous system. The three dimensional structures reported here form part of a newly developed data base for the detailed investigation of members of this structural series and their biological activities.

Low temperature X-ray structures of two crystalline forms (I) and (II) of the pyrimidine derivative and sodium channel blocker BW1003C87: 5-(2,3,5-trichlorophenyl)-2,4-diaminopyrimidine

The X-ray crystal structures of two crystalline forms of 5-(2,3,5-trichlorophenyl)-2,4-diaminopyrimidine, C10H7Cl3N4 (code name BW1003C87) (I) and (II), have been carried out at liquid nitrogen temperature. A detailed comparison of the two structures is given. Both are centrosymmetric, with structure (I) in the triclinic space group P (1) over bar unit cell a = 6.4870(10), b = 9.216(2), c = 12.016(2) angstrom, alpha = 75.78(3)degrees, beta = 89.95(3)degrees, gamma = 83.45(3)degrees, V = 691.5(2) angstrom(3), Z = 2 and density (calculated) = 1.544 Mg/m(3); and (II) in the monoclinic space group P2(1)/c, unit cell a = 12.000(2), b = 7.518(2), c = 13.450(3) angstrom, beta = 97.87(3)degrees, V = 1202.0(5) angstrom(3), Z = 4, Density (calculated) = 1.600 Mg/m(3). Structure (I) includes a solvated CH3OH in the lattice. Final R indices [I > 2sigma(I)] are R1 = 0.0427, wR2 = 0.1075 for (I) and R1 = 0.0487, wR2 = 0.1222 for (II). R indices (all data) are R1 = 0.0470, wR2 = 0.1118 for (I) and R1 = 0.0623, wR2 = 0.1299 for (II). 5-Phenyl-2,4 diaminopyrimidine and 6-phenyl-1,2,4 triazine derivatives, which include lamotrigine (3,5-diamino-6-(2,3-dichlorophenyl)-1,2,4-triazine), have been investigated for some time for their effects on the central nervous system. Both lamotrigine and 5-(2,3,5-trichlorophenyl)-2,4-diaminopyrimidine (code name BW1003C87), the subject of the present study, are anticonvulsant as well as neuroprotective in models of brain ischaemia and in a model of white matter ischaemia. BW1003C87 is a sodium channel blocker which also reduces the release of the neurotransmitter glutamate. The three dimensional structures reported here form part of a newly developed data base for the detailed investigation of members of this drug family and their biological activities.