Transport of cytoskeletal elements in the squid giant axon.

In order to explore how cytoskeletal proteins are moved by axonal transport, we injected fluorescent microtubules and actin filaments as well as exogenous particulates into squid giant axons and observed their movements by confocal microscopy. The squid giant axon is large enough to allow even cytoskeletal assemblies to be injected without damaging the axon or its transport mechanisms. Negatively charged, 10- to 500-nm beads and large dextrans moved down the axon, whereas small (70 kDa) dextrans diffused in all directions and 1000-nm beads did not move. Only particles with negative charge were transported. Microtubules and actin filaments, which have net negative charges, made saltatory movements down the axon, resulting in a net rate approximating that previously shown for slow transport of cytoskeletal elements. The present observations suggest that particle size and charge determine which materials are transported down the axon.

Membrane transport mechanisms probed by capacitance measurements with megahertz voltage clamp.

We have used capacitance measurements with a 1-microsecond voltage clamp technique to probe electrogenic ion-transporter interactions in giant excised membrane patches. The hydrophobic ion dipicrylamine was used to test model predictions for a simple charge-moving reaction. The voltage and frequency dependencies of the apparent dipicrylamine-induced capacitance, monitored by 1-mV sinusoidal perturbations, correspond to single charges moving across 76% of the membrane field at a rate of 9500 s-1 at 0 mV. For the cardiac Na,K pump, the combined presence of cytoplasmic ATP and sodium induces an increase of apparent membrane capacitance which requires the presence of extracellular sodium. The dependencies of capacitance changes on frequency, voltage, ATP, and sodium verify that phosphorylation enables a slow, 300- to 900-s-1, pump transition (the E1-E2 conformational change), which in turn enables fast, electrogenic, extracellular sodium binding reactions. For the GAT1 (gamma-aminobutyric acid,Na,Cl) cotransporter, expressed in Xenopus oocyte membrane, we find that chloride binding from the cytoplasmic side, and probably sodium binding from the extracellular side, results in a decrease of membrane capacitance monitored with 1- to 50-kHz perturbation frequencies. Evidently, ion binding by the GAT1 transporter suppresses an intrinsic fast charge movement which may originate from a mobility of charged residues of the transporter binding sites. The results demonstrate that fast capacitance measurements can provide new insight into electrogenic processes closely associated with ion binding by membrane transporters.

Impact of pre-existing sulfate on retention of imported chloride and nitrate in variable charge soil profiles

In variable charge soils, anion retention and accumulation through adsorption at exchange sites is a competitive process. The objectives of this study in the wet tropics of far north Queensland were to investigate (i) whether the pre-existing high sulphate in variable charge soils had any impact on the retention of chloride and nitrate, derived mostly from the applied fertilizer; and (ii) whether chloride competed with nitrate during the adsorption processes. Soil cores up to 12.5 m depth were taken from seven sites, representing four soil types, in the Johnstone River Catchment. Six of these sites had been under sugarcane (Saccharum officinarum-S) cultivation for at least 50 years and one was an undisturbed rainforest. The cores were segmented at 1.0 m depth increments, and subsamples were analysed for nitrate-N, cation (CEC)- and anion-exchange capacities (AEC), pH, exchangeable cations (Ca, Mg, K, Na), soil organic C (SOC), electrical conductivity (EC), sulphate-S, and chloride. Sulphate-S load in 1-12 m depth under cropping ranged from 9.4 to 73.9 t ha(-1) (mean= 40 t ha(-1)) compared with 74.4 t ha(-1) in the rainforest. Chloride load under cropping ranged from 1.5 to 9.6 t ha(-1) (mean= 4.9 t ha(-1)) compared to 0.9 t ha(-1) in the rainforest, and the nitrate-N load from 113 to 2760 kg ha(-1) (mean = 910 kg ha(-1)) under cropping compared to 12 kg ha(-1) in the rainforest. Regardless of the soil type, the total chloride or nitrate-N input in fertilisers was 7.5 t ha(-1), during the last 50 years. Sulphate-S distribution in soil profiles decreased with depth at >2 m, whereas bulges of chloride or nitrate-N were observed at depths >2 m. This suggests that chloride or nitrate adsorption and retention increased with decreasing sulphate dominance. Abrupt decreases in equivalent fraction of sulphate (EFSO4), at depths >2 m, were accompanied by rapid increases in equivalent fraction of chloride (EFCl), followed by nitrate (EFNO3). The stepwise regression for EFCl and EFNO3 indicated that nitrate retention was reduced by the pre-existing sulphate and imported chloride, whereas only sulphate reduced chloride adsorption. The results indicate that chloride and nitrate adsorption and retention occurred, in the order chloride>nitrate, in soils containing large amounts of sulphate under approximately similar total inputs of N- and Cl-fertilisers. (C) 2004 Elsevier B.V. All rights reserved.

Chloride as a signature indicator of soil textural and hydrologic stratigraphies in variable charge deep profiles

Soil properties that influence water movement through profiles are important for determining flow paths, reactions between soil and solute, and the ultimate destination of solutes. This is particularly important in high rainfall environments. For highly weathered deep profiles, we hypothesize that abrupt changes in the distribution of the quotient [QT = (silt + sand)/clay] reflect the boundaries between textural units or textural (TS) and hydrologic (HS) stratigraphies. As a result, QT can be used as a parameter to characterize TS and as a surrogate for HS. Secondly, we propose that if chloride distributions were correlated with QT, under non-limiting anion exchange, then chloride distributions can be used as a signature indicator of TS and HS. Soil cores to a depth of 12.5 in were taken from 16 locations in the wet tropical Johnstone River catchment of northeast Queensland, Australia. The cores belong to nine variable charge soil types and were under sugarcane (Saccharun officinarum-S) production, which included the use of potassium chloride, for several decades. The cores were segmented at I m depth increments and subsamples were analysed for chloride, pH, soil water content (theta), clay, silt and sand contents. Selected bores were capped to serve as piezometers to monitor groundwater dynamics. Depth incremented QT, theta and chloride correlated, each individually, significantly with the corresponding profile depth increments, indicating the presence of textural, hydrologic and chloride gradients in profiles. However, rapid increases in QT down the profile indicated abrupt changes in TS, suggesting that QT can be used as a parameter to characterize TS and as a surrogate for HS. Abrupt changes in chloride distributions were similar to QT, suggesting that chloride distributions can be used as a signature indicator of QT (TS) and HS. Groundwater data indicated that chloride distributions depended, at least partially, on groundwater dynamics, providing further support to our hypothesis that chloride distribution can be used as a signature indicator of HS. Copyright (c) 2005 John Wiley & Sons, Ltd.

Spin-charge conductance in nanoscale electronic devices

We introduce a spin-charge conductance matrix as a unifying concept underlying charge and spin transport within the framework of the Landauer-Buttiker conductance formula. It turns out that the spin-charge conductance matrix provides a natural and gauge covariant description for electron transport through nanoscale electronic devices. We demonstrate that the charge and spin conductances are gauge invariant observables which characterize transport phenomena arising from spin-dependent scattering. Tunnelling through a single magnetic atom is discussed to illustrate our theory.

Prediction of slurry transport in SAG mills using SPH fluid flow in a dynamic DEM based porous media

DEM modelling of the motion of coarse fractions of the charge inside SAG mills has now been well established for more than a decade. In these models the effect of slurry has broadly been ignored due to its complexity. Smoothed particle hydrodynamics (SPH) provides a particle based method for modelling complex free surface fluid flows and is well suited to modelling fluid flow in mills. Previous modelling has demonstrated the powerful ability of SPH to capture dynamic fluid flow effects such as lifters crashing into slurry pools, fluid draining from lifters, flow through grates and pulp lifter discharge. However, all these examples were limited by the ability to model only the slurry in the mill without the charge. In this paper, we represent the charge as a dynamic porous media through which the SPH fluid is then able to flow. The porous media properties (specifically the spatial distribution of porosity and velocity) are predicted by time averaging the mill charge predicted using a large scale DEM model. This allows prediction of transient and steady state slurry distributions in the mill and allows its variation with operating parameters, slurry viscosity and slurry volume, to be explored. (C) 2006 Published by Elsevier Ltd.

The charge effect on the hindrance factors for diffusion and convection of a solute in pores II

The diffusion and convection of a solute suspended in a fluid across porous membranes are known to be reduced compared to those in a bulk solution, owing to the fluid mechanical interaction between the solute and the pore wall as well as steric restriction. If the solute and the pore wall are electrically charged, the electrostatic interaction between them could affect the hindrance to diffusion and convection. In this study, the transport of charged spherical solutes through charged circular cylindrical pores filled with an electrolyte solution containing small ions was studied numerically by using a fluid mechanical and electrostatic model. Based on a mean field theory, the electrostatic interaction energy between the solute and the pore wall was estimated from the Poisson-Boltzmann equation, and the charge effect on the solute transport was examined for the solute and pore wall of like charge. The results were compared with those obtained from the linearized form of the Poisson-Boltzmann equation, i.e.the Debye-Hückel equation. © 2012 The Japan Society of Fluid Mechanics and IOP Publishing Ltd.

Charge effects on hindrance factors for diffusion and convection of solute in pores I

The transport of a spherical solute through a long circular cylindrical pore filled with an electrolyte solution is studied numerically, in the presence of constant surface charge on the solute and the pore wall. Fluid dynamic analyses were carried out to calculate the flow field around the solute in the pore to evaluate the drag coefficients exerted on the solute. Electrical potentials around the solute in the electrolyte solution were computed based on a mean-field theory to provide the interaction energy between the charged solute and the pore wall. Combining the results of the fluid dynamic and electrostatic analyses, we estimated the rate of the diffusive and convective transport of the solute across the pore. Although the present estimates of the drag coefficients on the solute suggest more than 10% difference from existing studies, depending on the radius ratio of the solute relative to the pore and the radial position of the solute center in the pore, this difference leads to a minor effect on the hindrance factors. It was found that even at rather large ion concentrations, the repulsive electrostatic interaction between the charged solute and the pore wall of like charge could significantly reduce the transport rate of the solute.

Electrical charge effect on osmotic flow through pores

An electrostatic model for osmotic flow through circular cylindrical pores is developed to describe the reflection coefficient for the membrane transport in the presence of surface charges on the pore wall and the solute. For a spherical solute placed at an arbitrary radial position in the pore, the electrical potential was computed by a spectral element method applied to the Poisson-Boltzmann equation together with the condition of electrical neutrality. The interaction energy between the surface charges was used to estimate the osmotic reflection coefficient. The proposed model predicts that even for a small Debye length compared to the pore radius, the repulsive electrostatic interaction between the surface charges could significantly increase the osmotic flow through the pore.

Evaluation of Transport Properties of Nanofiltration Membranes Exposed to Radioactive Liquid Waste

The application of membrane separation processes (PSM) for treatment of radioactive waste requires the selection of a suitable membrane for the treatment of waste, as the membrane will be directly exposed to the radioactive liquid waste, and also exposed to ionizing radiation. The nanofiltration membrane is most suitable for treatment of radioactive waste, since it has high rejection of multivalent ions. Usually the membranes are made of polymers and depending on the composition of the waste, type and dose of radiation absorbed may be changes in the structure of the membrane, resulting in loss of its transport properties. We tested two commercial nanofiltration membranes: NF and SW Dow/Filmtec. The waste liquid used was obtained in the process of conversion of uranium hexafluoride gas to solid uranium dioxide, known as "carbonated water". The membranes were characterized as their transport properties (hydraulic permeability, permeate flux and salt rejection) before and after their immersion in the waste for 24 hours. The surface of the membranes was also evaluated by SEM and FTIR. It was observed that in both the porosity of the membrane selective layer was altered, but not the membrane surface charge, which is responsible for the selectivity of the membrane. The NF membranes and SW showed uranium ion rejection of 64% and 55% respectively.

Contribution à la planification tactique et opérationnelle du transport forestier

Cette thèse est une contribution à la modélisation, la planification et l’optimisation du transport pour l’approvisionnement en bois de forêt des industries de première transformation. Dans ce domaine, les aléas climatiques (mise au sol des bois par les tempêtes), sanitaires (attaques bactériologiques et fongiques des bois) et commerciaux (variabilité et exigence croissante des marchés) poussent les divers acteurs du secteur (entrepreneurs et exploitants forestiers, transporteurs) à revoir l’organisation de la filière logistique d’approvisionnement, afin d’améliorer la qualité de service (adéquation offre-demande) et de diminuer les coûts. L’objectif principal de cette thèse était de proposer un modèle de pilotage améliorant la performance du transport forestier, en respectant les contraintes et les pratiques du secteur. Les résultats établissent une démarche de planification hiérarchique des activités de transport à deux niveaux de décision, tactique et opérationnel. Au niveau tactique, une optimisation multi-périodes permet de répondre aux commandes en minimisant l’activité globale de transport, sous contrainte de capacité agrégée des moyens de transport accessibles. Ce niveau permet de mettre en œuvre des politiques de lissage de charge et d’organisation de sous-traitance ou de partenariats entre acteurs de transport. Au niveau opérationnel, les plans tactiques alloués à chaque transporteur sont désagrégés, pour permettre une optimisation des tournées des flottes, sous contrainte des capacités physiques de ces flottes. Les modèles d’optimisation de chaque niveau sont formalisés en programmation linéaire mixte avec variables binaires. L’applicabilité des modèles a été testée en utilisant un jeu de données industrielles en région Aquitaine et a montré des améliorations significatives d’exploitation des capacités de transport par rapport aux pratiques actuelles. Les modèles de décision ont été conçus pour s’adapter à tout contexte organisationnel, partenarial ou non : la production du plan tactique possède un caractère générique sans présomption de l’organisation, celle-ci étant prise en compte, dans un deuxième temps, au niveau de l’optimisation opérationnelle du plan de transport de chaque acteur.

Transport coopératif d'un objet par deux robots humanoïdes dans un environnement encombré

Il y a présentement de la demande dans plusieurs milieux cherchant à utiliser des robots afin d'accomplir des tâches complexes, par exemple l'industrie de la construction désire des travailleurs pouvant travailler 24/7 ou encore effectuer des operation de sauvetage dans des zones compromises et dangereuses pour l'humain. Dans ces situations, il devient très important de pouvoir transporter des charges dans des environnements encombrés. Bien que ces dernières années il y a eu quelques études destinées à la navigation de robots dans ce type d'environnements, seulement quelques-unes d'entre elles ont abordé le problème de robots pouvant naviguer en déplaçant un objet volumineux ou lourd. Ceci est particulièrement utile pour transporter des charges ayant de poids et de formes variables, sans avoir à modifier physiquement le robot. Un robot humanoïde est une des plateformes disponibles afin d'effectuer efficacement ce type de transport. Celui-ci a, entre autres, l'avantage d'avoir des bras et ils peuvent donc les utiliser afin de manipuler précisément les objets à transporter. Dans ce mémoire de maîtrise, deux différentes techniques sont présentées. Dans la première partie, nous présentons un système inspiré par l'utilisation répandue de chariots de fortune par les humains. Celle-ci répond au problème d'un robot humanoïde naviguant dans un environnement encombré tout en déplaçant une charge lourde qui se trouve sur un chariot de fortune. Nous présentons un système de navigation complet, de la construction incrémentale d'une carte de l'environnement et du calcul des trajectoires sans collision à la commande pour exécuter ces trajectoires. Les principaux points présentés sont : 1) le contrôle de tout le corps permettant au robot humanoïde d'utiliser ses mains et ses bras pour contrôler les mouvements du système à chariot (par exemple, lors de virages serrés) ; 2) une approche sans capteur pour automatiquement sélectionner le jeu approprié de primitives en fonction du poids de la charge ; 3) un algorithme de planification de mouvement qui génère une trajectoire sans collisions en utilisant le jeu de primitive approprié et la carte construite de l'environnement ; 4) une technique de filtrage efficace permettant d'ignorer le chariot et le poids situés dans le champ de vue du robot tout en améliorant les performances générales des algorithmes de SLAM (Simultaneous Localization and Mapping) défini ; et 5) un processus continu et cohérent d'odométrie formés en fusionnant les informations visuelles et celles de l'odométrie du robot. Finalement, nous présentons des expériences menées sur un robot Nao, équipé d'un capteur RGB-D monté sur sa tête, poussant un chariot avec différentes masses. Nos expériences montrent que la charge utile peut être significativement augmentée sans changer physiquement le robot, et donc qu'il est possible d'augmenter la capacité du robot humanoïde dans des situations réelles. Dans la seconde partie, nous abordons le problème de faire naviguer deux robots humanoïdes dans un environnement encombré tout en transportant un très grand objet qui ne peut tout simplement pas être déplacé par un seul robot. Dans cette partie, plusieurs algorithmes et concepts présentés dans la partie précédente sont réutilisés et modifiés afin de convenir à un système comportant deux robot humanoides. Entre autres, nous avons un algorithme de planification de mouvement multi-robots utilisant un espace d'états à faible dimension afin de trouver une trajectoire sans obstacle en utilisant la carte construite de l'environnement, ainsi qu'un contrôle en temps réel efficace de tout le corps pour contrôler les mouvements du système robot-objet-robot en boucle fermée. Aussi, plusieurs systèmes ont été ajoutés, tels que la synchronisation utilisant le décalage relatif des robots, la projection des robots sur la base de leur position des mains ainsi que l'erreur de rétroaction visuelle calculée à partir de la caméra frontale du robot. Encore une fois, nous présentons des expériences faites sur des robots Nao équipés de capteurs RGB-D montés sur leurs têtes, se déplaçant avec un objet tout en contournant d'obstacles. Nos expériences montrent qu'un objet de taille non négligeable peut être transporté sans changer physiquement le robot.