基于循环抑制CPG模型的蛇形机器人控制器

依据生物利用中央模式发生器(Central pattern generator,CPG)的自激行为产生有节律的协调运动适应多种环境,基于循环抑制CPG建模理论设计了蛇形机器人CPG控制器模型,分析了单个神经元、循环抑制CPG以及该控制器模型的稳定性,并把该控制器应用到一个结合蛇形机器人“勘查者-Ⅰ”动力学特性的仿真模型,得到了实现蜿蜒运动的CPG控制器参数,进而研究了调节S波个数、身体构形曲率、蜿蜒运动速度以及运动轨迹曲率的CPG控制器参数设定策略。此外,“勘查者-Ⅰ”应用该CPG控制器的输出成功实现了蜿蜒运动。该研究结果为设计人工CPG控制器提供了一个可行的方法。

基于循环抑制CPG模型控制的蛇形机器人蜿蜒运动

根据生物蛇和蛇形机器人的结构及运动特点,应用循环抑制CPG建模理论构建了蛇形机器人神经网络模型;利用蛇形机器人模型,仿真验证了CPG模型对蜿蜒运动控制的有效性;提出并验证了实现有目的转弯控制的CPG参数调节方法．最后,给出了今后的研究方向．

基于乐理的蛇形机器人控制方法研究

根据生物蛇和蛇形机器人的结构及运动特点 ,提出了基于乐理的蛇形机器人控制方法 ,定义了乐理的符号、规则与蛇形机器人控制过程的对应关系 ,编写了蜿蜒运动步态谱 .“勘查者—I”蛇形机器人上实现了蜿蜒运动的控制 .给出了今后的研究方向 .

新型蛇形机器人蜿蜒运动的动力学分析

为提高蛇形机器人执行各种运动的能力,研制了新型蛇形机器人系统.重点研究了该蛇形机器人的动力学.建立了机器人的运动学模型,并根据运动学模型提出了控制蛇形机器人蜿蜒运动的复合运动控制方法.用拉格朗日方法建立动力学模型,对不同参数下蛇形机器人的关节力矩特性和摩擦力特性进行了分析比较,为蛇形机器人的有效运动提供了理论依据.

蛇形机器人的扭转运动研究

通过扭转运动,蛇形机器人能够在粗糙的地面运动,甚至可以翻越一些障碍物。对扭转运动进行了运动学解析,提出了实现扭转运动的简化输入模型。实现了蛇形机器人二维平面内的U形和V形扭转运动,并将扭转运动与其他运动方式结合,实现蛇形机器人的复合运动方式。通过实验验证了所提出的简化模型的有效性。

华南地壳岩石弹性和变形性质的高温高压实验研究

The South continent of China lies to southeast of Eurasia block. It is an active area from the view of crust growth and continent spread and is a transition zone between continental crust and oceanic crust. The compressional wave velocities and anisotropies of typical crustal metamorphic rocks were determined at high temperature (up to 1000 ℃) and high pressure(up to 800MPa). The experimental results show that the velocities generally increase with pressure, and is unaffected by temperature up to around 550 ℃. But the velocities of all experimental samples start to drop above a temperature point. For an example, this greatly reduce the speed of wave propagation in amphibolite and serpentinite above 760 ℃ and above 550 ℃ respectively, which may be due to dehydrate of amphibole and serpentine. P-wave anisotropy coefficients of those rocks range from 2% to 10% at 800MPa and 500 ℃. The anisotropies decrease with increasing pressure at room temperature, but hardly change as function of temperature at constant 800MPa or 600MPa pressure. The average velocity of the six crustal rocks is 6.28km/s under the condition of 800MPa and 550 ℃, which is consistent with the result of deep seismic sounding data. Based on this experimental result, we deduce there may exist a lot of felsic granulites and amphibolites at the depth of 15-25km underground. With increasing temperature and pressure, the deformation behavior of the rocks undergoes from localized brittle fracture, semi-brittle deformation (cataclastic flow or semi-brittle faulting, semi-brittle flow) to homogeneous crystal-plastic flow. This transition is associated with mechanical behavior and micro-mechanism. It is very important to understanding earthquake source mechanics, the strength of the lithosphere and the style of deformation. The experiments were conducted at temperature of 600-1000 ℃, confining pressure of 500MPa, and stain rates of 10~(-4)-10~(-6) S~(-1). For fine-grained natural amphibolite, the results of experiments show that brittle faulting is major failure mode at temperature <600 ℃, but crystal-plastic deformation is dominate at temperature >800 ℃, and there is a transition with increasing temperature from sembrittle faulting to cataclastic flow and sembrittle flow at temperature of 670-750 ℃. For medium-grained natural Felsic granulite, the results of experiments show that brittle faulting is major failure mode at temperature <500 ℃, but crystal-plastic deformation is dominate at temperature >700 ℃, and there is a transition with increasing temperature from semibrittle faulting to cataclastic flow and sembrittle flow at temperature of 500-600 ℃.

High Strength Thermoplastic Bonding for Multi-channel, Multi-layer Lab-on-Chip Devices for Ocean and Environmental applications

A solvent-vapour thermoplastic bonding process is reported which provides high strength bonding of PMMA over a large area for multi-channel and multi-layer microfluidic devices with shallow high resolution channel features. The bond process utilises a low temperature vacuum thermal fusion step with prior exposure of the substrate to chloroform (CHCl3) vapour to reduce bond temperature to below the PMMA glass transition temperature. Peak tensile and shear bond strengths greater than 3 MPa were achieved for a typical channel depth reduction of 25 µm. The device-equivalent bond performance was evaluated for multiple layers and high resolution channel features using double-side and single-side exposure of the bonding pieces. A single-sided exposure process was achieved which is suited to multi-layer bonding with channel alignment at the expense of greater depth loss and a reduction in peak bond strength. However, leak and burst tests demonstrate bond integrity up to at least 10 bar channel pressure over the full substrate area of 100 mm x 100 mm. The inclusion of metal tracks within the bond resulted in no loss of performance. The vertical wall integrity between channels was found to be compromised by solvent permeation for wall thicknesses of 100 µm which has implications for high resolution serpentine structures. Bond strength is reduced considerably for multi-layer patterned substrates where features on each layer are not aligned, despite the presence of an intermediate blank substrate. Overall a high performance bond process has been developed that has the potential to meet the stringent specifications for lab-on-chip deployment in harsh environmental conditions for applications such as deep ocean profiling.

Emerging Technologies

This book, written when Walker was Visiting Professor at the Technical University Munich in 2011, describes his research on the effects of digital technology on architectural design and construction, and on the development of ‘digital craft’. The primary example given is The Swarm, a digitally designed and manufactured pavilion, produced with students while Walker was at TU Munich. It now stands outside the Bayerischen Architektenkammer (Bavarian Chamber of Architects) in Munich. Through such research-by-design, Walker asks larger questions: what can designers craft without a master craftsman’s skills, and how can craft skills be recovered through digital fabrication? Another example in the book is the Swoosh Pavilion, one of two public-space-scale architectural pavilion prototypes Walker developed between 2008 and 2009 at the Architectural Association (AA), using applied digital modelling and CNC techniques to investigate methods of teaching and testing digital processes through making. Swoosh (2008) and a second AA pavilion, Driftwood (2009), were discussed by Walker and Martin Self, his co-investigator, in ‘Fractal, bad hair, Swoosh and Driftwood pavilions of Intermediate Unit 2, 2006–2009’, published in the AD reader, Manufacturing the Bespoke (2012), which includes essays by well-known critics and designers such as Mathias Kohler and Michael Stacey. Both AA pavilions were sponsored by FinnForest Merk, Arup, HOK and Building Design Magazine, and were seen by large international audiences in Bedford Square, London during the 2008–9 ‘AA Projects Review’ shows. The book Making Pavilions (Walker and Self, AA Agenda No. 9, Architectural Association Press, 2011) also discusses their work over seven years of teaching at the Architectural Association. At the same time, Walker collaborated on a series of Serpentine pavilions, commissioned annually by the Serpentine Gallery, London, co-designing these experimental structures with internationally renowned architects Daniel Libeskind, Oscar Niemeyer, Toyo Ito and Alvaro Siza.

Adverse effects of industrial multiwalled carbon nanotubes on human pulmonary cells

The aim of this study was to evaluate adverse effects of multiwalled carbon nanotubes (MWCNT), produced for industrial purposes, on the human epithelial cell line A549. MWCNT were dispersed in dipalmitoyl lecithin (DPL), a component of pulmonary surfactant, and the effects of dispersion in DPL were compared to those in two other media: ethanol (EtOH) and phosphate-buffered saline (PBS). Effects of MWCNT were also compared to those of two asbestos fibers (chrysotile and crocidolite) and carbon black (CB) nanoparticles, not only in A549 cells but also in mesothelial cells (MeT5A human cell line), used as an asbestos-sensitive cell type. MWCNT formed agglomerates on top of both cell lines (surface area 15-35 μm2) that were significantly larger and more numerous in PBS than in EtOH and DPL. Whatever the dispersion media, incubation with 100 μg/ml MWCNT induced a similar decrease in metabolic activity without changing cell membrane permeability or apoptosis. Neither MWCNT cellular internalization nor oxidative stress was observed. In contrast, asbestos fibers penetrated into the cells, decreased metabolic activity but not cell membrane permeability, and increased apoptosis, without decreasing cell number. CB was internalized without any adverse effects. In conclusion, this study demonstrates that MWCNT produced for industrial purposes exert adverse effects without being internalized by human epithelial and mesothelial pulmonary cell lines. [Authors]

The γ-tocopherol-like family of N-methyltransferases: A taxonomically clustered gene family encoding enzymes responsible for N-methylation of monoterpene indole alkaloids

The plant family Apocynaceae accumulates thousands of monoterpene indole alkaloids (MIAs) which originate, biosynthetically, from the common secoiridoid intermediate, strictosidine, that is formed from the condensation of tryptophan and secologanin molecules. MIAs demonstrate remarkable structural diversity and have pharmaceutically valuable biological activities. For example; a subunit of the potent anti-neoplastic molecules vincristine and vinblastine is the aspidosperma alkaloid, vindoline. Vindoline accumulates to trace levels under natural conditions. Research programs have determined that there is significant developmental and light regulation involved in the biosynthesis of this MIA. Furthermore, the biosynthetic pathway leading to vindoline is split among at least five independent cell types. Little is known of how intermediates are shuttled between these cell types. The late stage events in vindoline biosynthesis involve six enzymatic steps from tabersonine. The fourth biochemical step, in this pathway, is an indole N-methylation performed by a recently identified N-methyltransfearse (NMT). For almost twenty years the gene encoding this NMT had eluded discovery; however, in 2010 Liscombe et al. reported the identification of a γ-tocopherol C-methyltransferase homologue capable of indole N-methylating 2,3-dihydrotabersonine and Virus Induced Gene Silencing (VIGS) suppression of the messenger has since proven its involvement in vindoline biosynthesis. Recent large scale sequencing initiatives, performed on non-model medicinal plant transcriptomes, has permitted identification of candidate genes, presumably involved, in MIA biosynthesis never seen before in plant specialized metabolism research. Probing the transcriptome assemblies of Catharanthus roseus (L.)G.Don, Vinca minor L., Rauwolfia serpentine (L.)Benth ex Kurz, Tabernaemontana elegans, and Amsonia hubrichtii, with the nucleotide sequence of the N-methyltransferase involved in vindoline biosynthesis, revealed eight new homologous methyltransferases. This thesis describes the identification, molecular cloning, recombinant expression and biochemical characterization of two picrinine NMTs, one from V. minor and one from R. serpentina, a perivine NMT from C. roseus, and an ajmaline NMT from R. serpentina. While these TLMTs were expressed and functional in planta, they were active at relatively low levels and their N-methylated alkaloid products were not apparent our from alkaloid isolates of the plants. It appears that, for the most part, these TLMTs, participate in apparently silent biochemical pathways, awaiting the appropriate developmental and environmental cues for activity.

Relationships of nicotianamine and other amino acids with nickel, zinc and iron in Thlaspi hyperaccumulators

Experimental evidence suggests that nicotianamine (NA) is involved in the complexation of metal ions in some metal-hyperaccumulating plants. Closely-related nickel (Ni)- and zinc (Zn)-hyperaccumulating species were studied to determine whether a correlation exists between the Ni and Zn concentrations and NA in foliar tissues. A liquid chromatography–mass spectrometry (LC-MS) procedure was developed to quantify the NA and amino acid contents using the derivatizing agent 6-aminoquinolyl-N-hydroxysuccinimidyl carbamate. A strong correlation emerged between Ni and NA, but not between Zn and NA. Concentrations of NA and l-histidine (His) also increased in response to higher Ni concentrations in the hydroponic solution supplied to a serpentine population of Thlaspi caerulescens. An inversely proportional correlation was found between the iron (Fe) and Ni concentrations in the leaves. Correlations were also found between Zn and asparagine. The results obtained in this study suggest that NA is involved in hyperaccumulation of Ni but not Zn. The inverse proportionality between the Ni and Fe concentrations in the leaf may suggest that Ni and Fe compete for complexation to NA.

Elemental and metabolite profiling of nickel hyperaccumulators from New Caledonia

Leaf material from nine Ni hyperaccumulating species was collected in New Caledonia: Homalium kanaliense (Vieill.) Briq., Casearia silvana Schltr, Geissois hirsuta Brongn. & Gris, Hybanthus austrocaledonicusSeem, Psychotria douarrei (G. Beauvis.) Däniker, Pycnandra acuminata (Pierre ex Baill.) Swenson & Munzinger (syn Sebertia acuminata Pierre ex Baill.), Geissois pruinosa Brongn. & Gris, Homalium deplanchei (Viell) Warb. and Geissois bradfordii (H.C. Hopkins). The elemental concentration was determined by inductively-coupled plasma optical emission spectrometry (ICP-OES) and from these results it was foundthat the species contained Ni concentrations from to 250–28,000 mg/kg dry mass. Gas chromatography mass spectrometry (GC–MS)-based metabolite profiling was then used to analyse leaves of each species.The aim of this study was to target Ni-binding ligands through correlation analysis of the metabolite levels and leaf Ni concentration. Approximately 258 compounds were detected in each sample. As has been observed before, a correlation was found between the citric acid and Ni concentrations in the leaves for all species collected. However, the strongest Ni accumulator, P. douarrei, has been found to contain particularly high concentrations of malonic acid, suggesting an additional storage mechanism for Ni. A size exclusion chromatography separation protocol for the separation of Ni-complexes in P. acuminata sap was also applied to aqueous leaf extracts of each species. A number of metabolites were identified in complexes with Ni including Ni-malonate from P. douarrei. Furthermore, the levels for some metabolites were found to correlate with the leaf Ni concentration. These data show that Ni ions can be bound by a range of small molecules in Ni hyperaccumulation in plants.

Desenvolvimento de um secador spray para obtenção de pós finos de precursores de nióbio

This work presents a spray-dryer designed to oxalate-niobate precursors and suitable for the production of Niobium Carbide. The dryer was intended to produce powders of controlled particle size. First, the precursor is dissolved in water to produce a solution of known concentration and then it is atomized on the spray-dryer to produce the powder. This equipment consists of a 304 stainless steel chamber, 0.48 m x 1.9 m (diameter x length), with a conical shape at the lower portion, which is assembled on a vertical platform. The chamber is heated by three 4 kW electrical resistances. In this process, drying air is heated as it flows inside a serpentine surrounding the chamber, in contrary to more traditional processes in which the hot drying air is used to heat the component. The air enters the chamber at the same temperature of the chamber, thus avoiding adherence of particles on the internal surface. The low speed flow is concurrent, directed from the top to the bottom portion of the chamber. Powders are deposited on a 0.4 m diameter tray, which separates the cylindrical portion from the conical portion of the chamber. The humid air is discharged though a plug placed underneath the collecting tray. A factorial experimental planning was prepared to study the influence of five parameters (concentration, input flow, operation temperature, drying air flow and spray air flow) on the characteristics of the powders produced. Particle size distribution and shape were measured by laser granulometry and scanning electronic microscopy. Then, the powders are submitted to reaction in a CH4 / H2 atmosphere to compare the characteristics of spray-dried powders with powders synthetizided by conventional methods

Electron microprobe and Raman spectroscopic investigation of monazite from chromitites of Cedrolina (Goias State, Brazil)

Monazite from chromitites of Cedrolina (Goias State, Brazil) was investigated by electron microprobe and Raman spectroscopy. Monazite has been rarely encountered in chromitites. In Brazil, it was previously reported from chromitites of the Campo Formoso layered intrusion. Comparison between the two occurrences indicates similar morphology and textural characteristics, but remarkable differences in chemical composition. In both cases, monazite occurs as irregular grains (up to 200 mu m) preferentially located in the chlorite-serpentine matrix of the chromitite, more rarely included in chromite. However, the monazite from Cedrolina is characterized by higher Ce/La ratio, and Pr, Nd, Th contents, compared with the monazite from Campo Formoso. The obtained Raman spectra are very similar in the two cases, suggesting that the compositional variation of monazites and the spectral resolution of the Raman do not allow a conclusive chemical analysis with Raman spectra. Textural evidence indicates that, in both occurrences, monazite precipitation did not take place at high temperature, concomitantly with the host chromitite. In the Campo Formoso chromitites, precipitation of monazite has been related with percolation of hydrothermal, aqueous and acid fluids emanating from a granite batholith. on the contrary, the Cedrolina monazite probably formed during one of the metamorphic events that affected the area in which the host chromitite occurs.

Evolução geoquímica e mineralógica em perfis de alteração sobre rochas serpentinizadas no sudoeste de Minas Gerais

Estudou-se a evolução geoquímica e mineralógica em três perfis distintos de alteração de rochas serpentinizadas que ocorrem nas imediações dos municípios de Alpinópolis e Fortaleza de Minas, no sudoeste do Estado de Minas Gerais, sob regimes de umidade e de temperatura údico e térmico, respectivamente. Nas condições atuais, o grau de evolução química e mineralógica é moderado em relação ao desenvolvido sobre outros tipos de rochas básicas e ultrabásicas da mesma área, caracterizando-se por uma importante perda de Na e Mg e, em menor proporção, de Ca e Si. O Al (localmente também o Fe) é o elemento menos móvel dos sistemas. O K é escasso no material de origem e nas zonas de alteração, e ocorre enriquecimento desse elemento nos horizontes superficiais por aporte externo. Os minerais primários mais facilmente intemperizáveis, como o talco, a tremolita e a clorita trioctaédrica, são abundantes ainda na fração argila desses solos tropicais com composição mineralógica pouco comum, mas são todos termodinamicamente instáveis. do ponto de vista geoquímico, o processo de alteração atual pode ser definido como uma bissialitização, que pode coincidir com ferruginização, com formação de minerais trioctaédricos secundários por transformação direta de estrutura e também por neoformação, todos coexistindo com os minerais primários residuais. No entanto, as fases de maior evolução, em volumes com drenagem mais eficiente, tendem à monossialitização, com formação de caulinitas de diferentes graus de cristalinidade. A assembléia mineralógica existente evidencia a metaestabilidade e o caráter incipiente do sistema pedogenético.