Phylogenetic relationships of labeonine cyprinids of the disc-bearing group (Pisces : Teleostei)

Phylogenetic relationships of labeonine cyprinids of the disc-bearing group (Pisces. Teleostei). Zoological Studies 44 (1): 130-143. The disc-bearing group is composed of 4 currently recognized cyprinid genera: Discocheilus, Discogobio, Garra, and Placocheilus. This group is defined as having a lower lip modified to form a mental adhesive disc whose posterior margin is not continuous with the mental region, and includes 91 widely distributed species in tropical Africa and Asia. So far, it is represented in China by 28 species (about 1/3 of the total number) of all 4 genera. A phylogenetic analysis, based on 29 morphological characters scored from first-hand observations of 23 of the Chinese species examined, revealed that the disc-bearing group forms a monophyletic clade in which Garra is the basal lineage, and Placocheilus constitutes a subclade with the sister pair of Discocheilus and Discogobio. In such a phylogenetic framework, the validity of each genus of the disc-bearing group was evaluated. It was confirmed that Discocheilus, Discogobio and Placocheilus represent 3 valid cyprinid genera. Evidence provided in this phylogenetic analysis, incorporated with conclusions reached in the known literature, reveals that the monophyly and validity of Garra need to be further studied using observations of more Garra species. Additional characters should also be examined, as the characters utilized in this study and in Abebe's with Getahun's (1999) study are insufficient to resolve the monophyly of Garra.

Physical connection and disconnection control based on hot melt adhesives

Physical connection and disconnection control has practical meanings for robot applications. Compared to conventional connection mechanisms, bonding involving a thermal process could provide high connection strength, high repeatability, and power-free connection maintenance, etc. In terms of disconnection, an established bond can be easily weakened with a temperature rise of the material used to form the bond. Hot melt adhesives (HMAs) are such material that can form adhesive bonds with any solid surfaces through a thermally induced solidification process. This paper proposes a novel control method for automatic connection and disconnection based on HMAs. More specifically, mathematical models are first established to describe the flowing behavior of HMAs at higher temperatures, as well as the temperature-dependent strength of an established HMA bond. These models are then validated with a specific type of HMA in a minimalistic robot setup equipped with two mechatronic devices for automated material handling. The validated models are eventually used for determining open parameters in a feedback controller for the robot to perform a pick-and-place task. Through a series of trials with different wooden and aluminum parts, we evaluate the performance of the automatic connection and disconnection methods in terms of speed, energy consumption, and robustness. © 1996-2012 IEEE.

Design considerations for attachment and detachment in robot climbing with hot melt adhesives

Robust climbing in unstructured environments is a long-standing challenge in robotics research. Recently there has been an increasing interest in using adhesive materials for that purpose. For example, a climbing robot using hot melt adhesives (HMAs) has demonstrated advantages in high attachment strength, reasonable operation costs, and applicability to different surfaces. Despite the advantages, there still remain several problems related to the attachment and detachment operations, which prevent this approach from being used in a broader range of applications. Among others, one of the main problems lies in the fact that the adhesive characteristics of this material were not fully understood fin the context of robotic climbing locomotion. As a result, the previous robot often could not achieve expected locomotion performances and "contaminated" the environment with HMAs left behind. In order to improve the locomotion performances, this paper focuses on attachment and detachment operations in robot climbing with HMAs. By systematically analyzing the adhesive property and bonding strength of HMAs to different materials, we propose a novel detachment mechanism that substantially improves climbing performances without HMA traces. © 2012 IEEE.

Robotic body extension based on hot melt adhesives

The capability of extending body structures is one of the most significant challenges in the robotics research and it has been partially explored in self-reconfigurable robotics. By using such a capability, a robot is able to adaptively change its structure from, for example, a wheel like body shape to a legged one to deal with complexity in the environment. Despite their expectations, the existing mechanisms for extending body structures are still highly complex and the flexibility in self-reconfiguration is still very limited. In order to account for the problems, this paper investigates a novel approach to robotic body extension by employing an unconventional material called Hot Melt Adhesives (HMAs). Because of its thermo-plastic and thermo-adhesive characteristics, this material can be used for additive fabrication based on a simple robotic manipulator while the established structures can be integrated into the robot's own body to accomplish a task which could not have been achieved otherwise. This paper first investigates the HMA material properties and its handling techniques, then evaluates performances of the proposed robotic body extension approach through a case study of a "water scooping" task. © 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.

A physico-chemical comparative study on extracellular carbohydrate polymers from five desert algae

Hydrodynamic properties of five newly isolated algal extracellular polysaccharides with putative adhesive properties are described, using a combination of size exclusion chromatography, total or 'multi-angle' laser light scattering and analytical ultracentrifugation. The respective polysaccharides had been extracted from four filamentous cyanobacteria: Microcoleus vaginatus, Scytonema javanicum, Phormidium tenue and Nostoc sp. and a coccoid single-cell green. algae Desmococcus olivaceus that had been separated from desert algal crusts of the Chinese Tegger Desert. SEC/MALLS experiments showed that the saccharides had, diverse-weight average molecular weights ranging from 4000 to 250,000 g/mol and all five showed either bi-modal or tri-modal molecular weight distribution profiles. Use of the Mark-Houwink-Kuhn-Sakurada (MHKS) scaling relationship between sedimentation coefficient and (weight average) molecular weight for the five samples, assuming a homologous conformation series revealed an MHKS b exponent of (0.33 +/- 0.04), suggesting a conformation between that of a stiff rod (b similar to 0.18) and a random coil (b similar to 0.4-0.5), i.e. a 'flexible rod' or 'stiff coil'. (C) 2003 Elsevier Ltd. All rights reserved.

Revision of the cyprinid genus Placocheilus Wu, 1977 in China, with description of a new species from Yunnan

Placocheilus is re-diagnosed on the basis of oromandibular structures compared to those of closely related groups. It is represented in China by three species restricted to Yunnan, namely P. caudofasciatus from the Tengtiaohe River (Nam Na), P. cryptonemus from the Nujiang Rive ( upper Salween River basin), and P. robustus, herein described as a new species from the Yuanjiang River ( Red River basin). P. robustus n. sp. is differentiated from its congeners in having a stout caudal peduncle ( depth 72.4-82.5% of its length) and the medium-sized scaleless midventral region of belly extended slightly beyond halfway from the pectoral- to pelvic-fin origin. It is further distinguished from P. caudofasciatus in having a coarsely crenulated rostral fold with 18-23 indentations on its distal margin and a smaller mental adhesive disc ( length 66.7-71.4% of its width and 37.0-43.1% of the head length).

Garra tengchongensis, a new cyprinid species from the Upper Irrawaddy River basin in Yunnan, China (Pisces : Teleostei)

Garra tengchongensis, a new cyprinid species from the upper Irrawaddy River basin in Tengchong county, Yunnan province, China, is differentiated from all other Chinese and Southeast Asian Garra species except G. kempi by having a combination of the following characters: two pairs of barbels, no proboscis on snout, 12 circumpeduncular scales and 37-42 lateral line scales. Garra tengchongensis is distinguished from G. kempi in having a cylindrical anterior body, a deeper body, a smaller mental adhesive disc, a scaled breast and belly, and a blunt snout.

光探测自旋共振对激子和带负电激子光学性质的研究

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高速激光器芯片的测试与封装技术的研究及2.5Gb/s DBF激光器与EA调制器单片集成器件的研究

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自组织InAs/GaAs量子点的光电性质和生长机理

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立方氮化物及其蓝-绿光发光二极管的外延生长和性质研究

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GaN基材料的生长、结构性能及光电性质研究

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硅基二氧化硅AWG波分复用/解复用器的研究

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掺铒硅基材料光学性质和微结构研究

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