Selection and control of limb posture for stability.

Impedance control can be used to stabilize the limb against both instability and unpredictable perturbations. Limb posture influences motor noise, energy usage and limb impedance as well as their interaction. Here we examine whether subjects use limb posture as part of a mechanism to regulate limb stability. Subjects performed stabilization tasks while attached to a two dimensional robotic manipulandum which generated a virtual environment. Subjects were instructed that they could perform the stabilization task anywhere in the workspace, while the chosen postures were tracked as subjects repeated the task. In order to investigate the mechanisms behind the chosen limb postures, simulations of the neuro-mechanical system were performed. The results indicate that posture selection is performed to provide energy efficiency in the presence of force variability.

Design trade-offs for energy regeneration and control in vehicle suspensions

This paper investigates the fundamental trade-offs involved in designing energy-regenerative suspensions, in particular, focusing on efficiency of power extraction and its effect on vehicle dynamics and control. It is shown that typical regenerative devices making use of linear-to-rotational elements can be modelled as a parallel arrangement of an inerter and a dissipative admittance. Taking account of typical adjustable parameters of the generator, it is shown, for a given suspension damping coefficient, that the power efficiency ratio scales with inertance. For a typical passenger vehicle, it is shown that there is a feasible compromise, namely that good efficiency is achievable with an inertance value that is not detrimental to vehicle performance. A prototype is designed and tested with a resistive termination and experimental results show good agreement between ideal and experimental admittances. The possibility to use dynamic (rather than purely resistive) loads to improve vehicle control without limiting the energy recovery is discussed. © 2013 Copyright Taylor and Francis Group, LLC.

Detection of hybridization between two loach species (Paramisgurnus dabryanus and Misgurnus anguillicaudatus) in wild populations

Artificial interspecific hybrids between large scale loach P. dabryanus and tetraploid pond loach M. anguillicaudatus (Cobitidae, Cypriniformes) are viable. To detect the occurrence of possible natural hybridization, genetic analyses by using microsatellite markers were performed for natural populations of large scale loach and pond loach, the reciprocal laboratory hybrids, and "supposed hybrids" with ambiguous morphology. The fertility of the artificial hybrids was also tested. At one diagnostic microsatellite (Mac50), one out of 20 "supposed hybrids" was identified to be F-1 hybrid between the two loach species because it had the same genotype as that of the laboratory hybrids. The triploid hybrids between the two species were confirmed to be female-sterile. The results show that rare hybridization has occurred between diploid large scale loach and tetraploid pond loach in nature although it may have little effect in genetic introgression. This study is helpful for fish conservation and encourages further investigation on natural hybridization and introgression of loaches.

Temporal and spatial variations in the species composition, distribution, and abundance of protozoa in East Dongting lake, China

Investigations of protozoa were carried out during four surveys of East Dongting Lake, China. A total of 160 protozoan species belonging to 71 genera was identified, of which 53 were flagellates, 37 sarcodines, and 70 ciliates. Among them, Peritrichida (32.6% of frequency), Arcellinida (16.2%), Volvocales (13.61/6), Peridiniales (13.1%), and Chrysomonadales (9.1%) were the main groups and contributed to 84.5% of the overall species. Ciliates were mainly composed of sessile species and small species. The total protozoan abundance varied from 2,400 cells L-1 to 20,250 cells L-1. The highest protozoan abundance occurred in spring; the lowest number was in autumn. The highest abundance of ciliates occurred in spring and winter, whereas flagellates developed the highest abundance in,summer and autumn. Pearson correlation analysis and linear regressions indicated that chlorophyll a and water velocity were the main factors affecting ternporal and spatial variations of the protozoan abundance.

Molecular phylogeny of three subspecies of common carp Cyprinus carpio, based on sequence analysis of cytochrome b and control region of mtDNA

The complete cytochrome b and the control region of mtDNA (about 2070 bp in total) of 10 strains belonging to three subspecies of the common carp, including three wild subspecies (the Yangtze River wild common carp - Cyprinus carpio haematopterus, Yuanjiang River wild common carp Cyprinus carpio rubrofuscus and Volga River wild common carp - Cyprinus carpio carpio) and seven domestic strains (Xingguo red carp, Russian scattered scaled mirror carp, Qingtian carp, Japanese Koi carp, purse red carp, Big-belly carp, German mirror carp) were sequenced. Phylogenetic analysis indicated that the 10 strains form three distinct clades, corresponding to C. c. haematopterus, C. c. rubrofuscus and C. c. carpio respectively. Purse red carp, an endemic domestic strain in Jiangxi province of China, showed a higher evolution rate in comparison with the other strains of C. c. haematopterus, most probably because of intensive selection and a long history of domestication. Base variation ratios among the three subspecies varied from 0.78% (between C. c. haematopterus and C. c. rubrofuscus) to 1.47%(between C. c. carpio and C. c. rubrofuscus). The topography of the phylogenetic tree and the geographic distribution of three subspecies closely resemble each other. The divergence time between C. c. carpio and the other two subspecies was estimated to be about 0.9 Myr and about 0.5 Myr between C. c. haematopterus and C. c. rubrofuscus. Based on phylogenetic analysis, C. c. rubrofuscus might have diverged from C. c. haematopterus.

Design and control of a climbing robot based on hot melt adhesion

Robust climbing in unstructured environments has been one of the long-standing challenges in robotics research. Among others, the control of large adhesion forces is still an important problem that significantly restricts the locomotion performance of climbing robots. The main contribution of this paper is to propose a novel approach to autonomous robot climbing which makes use of hot melt adhesion (HMA). The HMA material is known as an economical solution to achieve large adhesion forces, which can be varied by controlling the material temperature. For locomotion on both inclined and vertical walls, this paper investigates the basic characteristics of HMA material, and proposes a design and control of a climbing robot that uses the HMA material for attaching and detaching its body to the environment. The robot is equipped with servomotors and thermal control units to actively vary the temperature of the material, and the coordination of these components enables the robot to walk against the gravitational forces even with a relatively large body weight. A real-world platform is used to demonstrate locomotion on a vertical wall, and the experimental result shows the feasibility and overall performances of this approach. © 2013 Elsevier B.V. All rights reserved.

Design and control of a pendulum driven hopping robot

In this paper a new kind of hopping robot has been designed which uses inverse pendulum dynamics to induce bipedal hopping gaits. Its mechanical structure consists of a rigid inverted T-shape mounted on four compliant feet. An upright "T" structure is connected to this by a rotary joint. The horizontal beam of the upright "T" is connected to the vertical beam by a second rotary joint. Using this two degree of freedom mechanical structure, with simple reactive control, the robot is able to perform hopping, walking and running gaits. During walking, it is experimentally shown that the robot can move in a straight line, reverse direction and control its turning radius. The results show that such a simple but versatile robot displays stable locomotion and can be viable for practical applications on uneven terrain.

New species of Doliodrilus and other Limnodriloidinae (Oligochaeta, Tubificidae) from Hainan and other parts of the north-west Pacific Ocean

Thirteen species of Limnodriloidinae (Tubificidae) are recorded from marine and brackish-water habitats of Hainan Island, southern China, including 11 species of Doliodrilus and two species belonging to Limnodriloides . Eight species are new to science: D. bisaccus sp. n. (types from Japan), D. longidentatus sp. n. (types from Hong Kong), D. ciliatus sp. n., D. adiacens sp. n., D. fibrisaccus sp. n. (also from Fiji), D. brachyductus sp. n., D. bidolium sp. n. and D. chinensis sp. n. In addition, material of D. puertoricensis Erseus and Milligan, 1988, from New Caledonia, is briefly described. This study shows that Doliodrilus is unexpectedly species-rich in Asian seas, in particular, around Hainan. Including an unnamed species from this island, the known members of this genus increase from three to 12.

Marine species of Ainudrilus and Heterodrilus (Oligochaeta : Tubificidae : Rhyacodrilinae) from Hainan Island in southern China

Six species of Rhyacodrilinae (Oligochaeta: Tubificidae) are reported from intertidal and shallow water subtidal habitats around Hainan Island in southern China. Four species are new to science: Ainudrilus pauciseta n. sp., Heterodrilus chenianus n. sp., Heterodrilus nudus n. sp., and Heterodrilus uniformis n. sp. Japanese material of Ainudrilus lutulentus (Erseus, 1984) is also briefly described. Hitherto, 27 species belonging to Tubificidae have been recorded from Hainan.

Heavy metal pollution in China: Origin, pattern and control

Goal, Scope and Background. Heavy metal is among one of the pollutants, which cause severe threats to humans and the environment in China. The aim of the present review is to make information on the source of heavy metal pollution, distribution of heavy metals in the environment, and measures of pollution control accessible internationally, which are mostly published in Chinese. Methods. Information from scientific journals, university journals and governmental releases are compiled focusing mainly on Cd, Cu, Pb and Zn. Partly Al, As, Cr, Fe, Hg, Mn and Ni are included also in part as well. Results and Discussion. In soil, the average contents of Cd, Cu, Pb and Zn are 0.097, 22.6, 26.0 and 74.2 mg/kg, respectively. In the water of. the Yangtze River Basin, the concentrations of Cd, Cu, Pb and Zn are 0.080, 7.91, 15.7 and 18.7 pg/L, respectively. In reference to human activities, the heavy metal pollution comes from three sources: industrial emission, wastewater and solid waste. The environment such as soil, water and air were polluted by heavy metals in some cases. The contents of Cd, Cu, Pb and Zn even reach 3.16, 99.3, 84.1 and 147 mg/kg, respectively, in the soils of a wastewater irrigation zone. These contaminants pollute drinking water and food, and threaten human health. Some diseases resulting from pollution of geological and environmental origin, were observed with long-term and non-reversible effects. Conclusions. In China, the geological background level of heavy metal is low, but with the activity of humans, soil, water, air, and plants are polluted by heavy metals in some cases and even affect human health through the food chain. Recommendations and Outlook. To remediate and improve environmental quality is a long strategy for the polluted area to keep humans and animals healthy. Phytoremediation would be an effective technique to remediate the heavy metal pollutions.