Sample records for responses locomotion cell
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System design of a large fuel cell hybrid locomotive
Miller, A. R.; Hess, K. S.; Barnes, D. L.; Erickson, T. L.
Fuel cell power for locomotives combines the environmental benefits of a catenary-electric locomotive with the higher overall energy efficiency and lower infrastructure costs of a diesel-electric. A North American consortium, a public-private partnership, is developing a prototype hydrogen-fueled fuel cell-battery hybrid switcher locomotive for urban and military-base rail applications. Switcher locomotives are used in rail yards for assembling and disassembling trains and moving trains from one point to another. At 127 tonnes (280,000 lb), continuous power of 250 kW from its (proton exchange membrane) PEM fuel cell prime mover, and transient power well in excess of 1 MW, the hybrid locomotive will be the heaviest and most powerful fuel cell land vehicle yet. This fast-paced project calls for completion of the vehicle itself near the end of 2007. Several technical challenges not found in the development of smaller vehicles arise when designing and developing such a large fuel cell vehicle. Weight, center of gravity, packaging, and safety were design factors leading to, among other features, the roof location of the lightweight 350 bar compressed hydrogen storage system. Harsh operating conditions, especially shock loads during coupling to railcars, require component mounting systems capable of absorbing high energy. Vehicle scale-up by increasing mass, density, or power presents new challenges primarily related to issues of system layout, hydrogen storage, heat transfer, and shock loads.
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Analysis of fuel cell hybrid locomotives
Energy Technology Data Exchange (ETDEWEB)
Miller, Arnold R. [Vehicle Projects LLC, 621, 17th Street, Suite 2131, Denver, CO 80293 (United States); Peters, John; Smith, Brian E. [Transportation Technology Center Inc., 55500 DOT Road, Pueblo, CO 81007 (United States); Velev, Omourtag A. [AeroVironment Inc., 232 West Maple Avenue, Monrovia, CA 91016 (United States)
2006-07-03
Led by Vehicle Projects LLC, an international industry-government consortium is developing a 109t, 1.2MW road-switcher locomotive for commercial and military railway applications. As part of the feasibility and conceptual-design analysis, a study has been made of the potential benefits of a hybrid power plant in which fuel cells comprise the prime mover and a battery or flywheel provides auxiliary power. The potential benefits of a hybrid power plant are: (i) enhancement of transient power and hence tractive effort; (ii) regenerative braking; (iii) reduction of capital cost. Generally, the tractive effort of a locomotive at low speed is limited by wheel adhesion and not by available power. Enhanced transient power is therefore unlikely to benefit a switcher locomotive, but could assist applications that require high acceleration, e.g. subway trains with all axles powered. In most cases, the value of regeneration in locomotives is minimal. For low-speed applications such as switchers, the available kinetic energy and the effectiveness of traction motors as generators are both minimal. For high-speed heavy applications such as freight, the ability of the auxiliary power device to absorb a significant portion of the available kinetic energy is low. Moreover, the hybrid power plant suffers a double efficiency penalty, namely, losses occur in both absorbing and then releasing energy from the auxiliary device, which result in a net storage efficiency of no more than 50% for present battery technology. Capital cost in some applications may be reduced. Based on an observed locomotive duty cycle, a cost model shows that a hybrid power plant for a switcher may indeed reduce capital cost. Offsetting this potential benefit are the increased complexity, weight and volume of the power plant, as well as 20-40% increased fuel consumption that results from lower efficiency. Based on this analysis, the consortium has decided to develop a pure fuel cell road-switcher locomotive, that
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Contact enhancement of locomotion in spreading cell colonies
D'Alessandro, Joseph; Solon, Alexandre P.; Hayakawa, Yoshinori; Anjard, Christophe; Detcheverry, François; Rieu, Jean-Paul; Rivière, Charlotte
2017-10-01
The dispersal of cells from an initially constrained location is a crucial aspect of many physiological phenomena, ranging from morphogenesis to tumour spreading. In such processes, cell-cell interactions may deeply alter the motion of single cells, and in turn the collective dynamics. While contact phenomena like contact inhibition of locomotion are known to come into play at high densities, here we focus on the little explored case of non-cohesive cells at moderate densities. We fully characterize the spreading of micropatterned colonies of Dictyostelium discoideum cells from the complete set of individual trajectories. From data analysis and simulation of an elementary model, we demonstrate that contact interactions act to speed up the early population spreading by promoting individual cells to a state of higher persistence, which constitutes an as-yet unreported contact enhancement of locomotion. Our findings also suggest that the current modelling paradigm of memoryless active particles may need to be extended to account for the history-dependent internal state of motile cells.
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2017-01-01
The superior colliculus (SC) receives direct input from the retina and integrates it with information about sound, touch, and state of the animal that is relayed from other parts of the brain to initiate specific behavioral outcomes. The superficial SC layers (sSC) contain cells that respond to visual stimuli, whereas the deep SC layers (dSC) contain cells that also respond to auditory and somatosensory stimuli. Here, we used a large-scale silicon probe recording system to examine the visual response properties of SC cells of head-fixed and alert male mice. We found cells with diverse response properties including: (1) orientation/direction-selective (OS/DS) cells with a firing rate that is suppressed by drifting sinusoidal gratings (negative OS/DS cells); (2) suppressed-by-contrast cells; (3) cells with complex-like spatial summation nonlinearity; and (4) cells with Y-like spatial summation nonlinearity. We also found specific response properties that are enriched in different depths of the SC. The sSC is enriched with cells with small RFs, high evoked firing rates (FRs), and sustained temporal responses, whereas the dSC is enriched with the negative OS/DS cells and with cells with large RFs, low evoked FRs, and transient temporal responses. Locomotion modulates the activity of the SC cells both additively and multiplicatively and changes the preferred spatial frequency of some SC cells. These results provide the first description of the negative OS/DS cells and demonstrate that the SC segregates cells with different response properties and that the behavioral state of a mouse affects SC activity. SIGNIFICANCE STATEMENT The superior colliculus (SC) receives visual input from the retina in its superficial layers (sSC) and induces eye/head-orientating movements and innate defensive responses in its deeper layers (dSC). Despite their importance, very little is known about the visual response properties of dSC neurons. Using high-density electrode recordings and novel
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Directory of Open Access Journals (Sweden)
Anton Spanne
Full Text Available The spinocerebellar systems are essential for the brain in the performance of coordinated movements, but our knowledge about the spinocerebellar interactions is very limited. Recently, several crucial pieces of information have been acquired for the spinal border cell (SBC component of the ventral spinocerebellar tract (VSCT, as well as the effects of SBC mossy fiber activation in granule cells of the cerebellar cortex. SBCs receive monosynaptic input from the reticulospinal tract (RST, which is an important driving system under locomotion, and disynaptic inhibition from Ib muscle afferents. The patterns of activity of RST neurons and Ib afferents under locomotion are known. The activity of VSCT neurons under fictive locomotion, i.e. without sensory feedback, is also known, but there is little information on how these neurons behave under actual locomotion and for cerebellar granule cells receiving SBC input this is completely unknown. But the available information makes it possible to simulate the interactions between the spinal and cerebellar neuronal circuitries with a relatively large set of biological constraints. Using a model of the various neuronal elements and the network they compose, we simulated the modulation of the SBCs and their target granule cells under locomotion and hence generated testable predictions of their general pattern of modulation under this condition. This particular system offers a unique opportunity to simulate these interactions with a limited number of assumptions, which helps making the model biologically plausible. Similar principles of information processing may be expected to apply to all spinocerebellar systems.
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Coburn, Luke; Lopez, Hender; Schouwenaar, Irin-Maya; Yap, Alpha S.; Lobaskin, Vladimir; Gomez, Guillermo A.
2018-03-01
Epithelial tissues form physically integrated barriers against the external environment protecting organs from infection and invasion. Within each tissue, epithelial cells respond to different challenges that can potentially compromise tissue integrity. In particular, cells collectively respond to injuries by reorganizing their cell-cell junctions and migrating directionally towards the sites of damage. Notwithstanding, the mechanisms that drive collective responses in epithelial aggregates remain poorly understood. In this work, we develop a minimal mechanistic model that is able to capture the essential features of epithelial collective responses to injuries. We show that a model that integrates the mechanics of cells at the cell-cell and cell-substrate interfaces as well as contact inhibition of locomotion (CIL) correctly predicts two key properties of epithelial response to injury as: (1) local relaxation of the tissue and (2) collective reorganization involving the extension of cryptic lamellipodia that extend, on average, up to 3 cell diameters from the site of injury and morphometric changes in the basal regions. Our model also suggests that active responses (like the actomyosin purse string and softening of cell-cell junctions) are needed to drive morphometric changes in the apical region. Therefore, our results highlight the importance of the crosstalk between junctional biomechanics, cell substrate adhesion, and CIL, as well as active responses, in guiding the collective rearrangements that are required to preserve the epithelial barrier in response to injury.
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Relation between observed locomotion traits and locomotion score in dairy cows
Schlageter Tello, A.A.; Bokkers, E.A.M.; Groot Koerkamp, P.W.G.; Hertem, van T.; Viazzi, S.; Lokhorst, Kees
2015-01-01
Lameness is still an important problem in modern dairy farming. Human observation of locomotion, by looking at different traits in one go, is used in practice to assess locomotion. The objectives of this article were to determine which individual locomotion traits are most related to locomotion
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Synthesis of digital locomotive receiver of automatic locomotive signaling
Directory of Open Access Journals (Sweden)
K. V. Goncharov
2013-02-01
Full Text Available Purpose. Automatic locomotive signaling of continuous type with a numeric coding (ALSN has several disadvantages: a small number of signal indications, low noise stability, high inertia and low functional flexibility. Search for new and more advanced methods of signal processing for automatic locomotive signaling, synthesis of the noise proof digital locomotive receiver are essential. Methodology. The proposed algorithm of detection and identification locomotive signaling codes is based on the definition of mutual correlations of received oscillation and reference signals. For selecting threshold levels of decision element the following criterion has been formulated: the locomotive receiver should maximum set the correct solution for a given probability of dangerous errors. Findings. It has been found that the random nature of the ALSN signal amplitude does not affect the detection algorithm. However, the distribution law and numeric characteristics of signal amplitude affect the probability of errors, and should be considered when selecting a threshold levels According to obtained algorithm of detection and identification ALSN signals the digital locomotive receiver has been synthesized. It contains band pass filter, peak limiter, normalizing amplifier with automatic gain control circuit, analog to digital converter and digital signal processor. Originality. The ALSN system is improved by the way of the transfer of technical means to modern microelectronic element base, more perfect methods of detection and identification codes of locomotive signaling are applied. Practical value. Use of digital technology in the construction of the locomotive receiver ALSN will expand its functionality, will increase the noise immunity and operation stability of the locomotive signal system in conditions of various destabilizing factors.
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DEFF Research Database (Denmark)
Kiehn, Ole; Dougherty, Kimberly
2016-01-01
Locomotion is a complex motor behavior needed by animals and humans to move through the environment. All forms of locomotion, including swimming, flying, walking, running, and hopping, are repetitive motor activities that require the activation of the limb and body muscles in an organized rhythm ...
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Locomotive Assignment Problem with Heterogeneous Vehicle Fleet and Hiring External Locomotives
Directory of Open Access Journals (Sweden)
Dušan Teichmann
2015-01-01
Full Text Available This paper focuses on solving the problem of how to assign locomotives to assembled trains optimally. To solve the problem, linear programming is applied. The situation we model in the paper occurs in the conditions of a transport operator that provides rail transport in the Czech Republic. In the paper, an extended locomotive assignment problem is modeled; the transport operator can use different classes of the locomotives to serve individual connections, some connections must be served by a predefined locomotive class, and the locomotives can be allocated to several depots at the beginning. The proposed model also takes into consideration the fact that some connections can be served by the locomotives of external transport companies or operators. The presented model is applied to a real example in order to test its functionality.
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A Specific Population of Reticulospinal Neurons Controls the Termination of Locomotion.
Juvin, Laurent; Grätsch, Swantje; Trillaud-Doppia, Emilie; Gariépy, Jean-François; Büschges, Ansgar; Dubuc, Réjean
2016-06-14
Locomotion requires the proper sequencing of neural activity to start, maintain, and stop it. Recently, brainstem neurons were shown to specifically stop locomotion in mammals. However, the cellular properties of these neurons and their activity during locomotion are still unknown. Here, we took advantage of the lamprey model to characterize the activity of a cell population that we now show to be involved in stopping locomotion. We find that these neurons display a burst of spikes that coincides with the end of swimming activity. Their pharmacological activation ends ongoing swimming, whereas the inactivation of these neurons dramatically impairs the rapid termination of swimming. These neurons are henceforth referred to as stop cells, because they play a crucial role in the termination of locomotion. Our findings contribute to the fundamental understanding of motor control and provide important details about the cellular mechanisms involved in locomotor termination. Copyright © 2016 The Author(s). Published by Elsevier Inc. All rights reserved.
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Distribution of spinal neuronal networks controlling forward and backward locomotion.
Merkulyeva, Natalia; Veshchitskii, Aleksandr; Gorsky, Oleg; Pavlova, Natalia; Zelenin, Pavel V; Gerasimenko, Yury; Deliagina, Tatiana G; Musienko, Pavel
2018-04-20
Higher vertebrates, including humans, are capable not only of forward (FW) locomotion but also of walking in other directions relative to the body axis [backward (BW), sideways, etc.]. While the neural mechanisms responsible for controlling FW locomotion have been studied in considerable detail, the mechanisms controlling steps in other directions are mostly unknown. The aim of the present study was to investigate the distribution of spinal neuronal networks controlling FW and BW locomotion. First, we applied electrical epidural stimulation (ES) to different segments of the spinal cord from L2 to S2 to reveal zones triggering FW and BW locomotion in decerebrate cats of either sex. Second, to determine the location of spinal neurons activated during FW and BW locomotion, we used c-fos immunostaining. We found that the neuronal networks responsible for FW locomotion were distributed broadly in the lumbosacral spinal cord and could be activated by ES of any segment from L3 to S2. By contrast, networks generating BW locomotion were activated by ES of a limited zone from the caudal part of L5 to the caudal part of L7. In the intermediate part of the gray matter within this zone, a significantly higher number of c- fos -positive interneurons was revealed in BW-stepping cats compared with FW-stepping cats. We suggest that this region of the spinal cord contains the network that determines the BW direction of locomotion. Significance Statement Sequential and single steps in various directions relative to the body axis [forward (FW), backward (BW), sideways, etc.] are used during locomotion and to correct for perturbations, respectively. The mechanisms controlling step direction are unknown. In the present study, for the first time we compared the distributions of spinal neuronal networks controlling FW and BW locomotion. Using a marker to visualize active neurons, we demonstrated that in the intermediate part of the gray matter within L6 and L7 spinal segments
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Identification of a brainstem circuit regulating visual cortical state in parallel with locomotion.
Lee, A Moses; Hoy, Jennifer L; Bonci, Antonello; Wilbrecht, Linda; Stryker, Michael P; Niell, Cristopher M
2014-07-16
Sensory processing is dependent upon behavioral state. In mice, locomotion is accompanied by changes in cortical state and enhanced visual responses. Although recent studies have begun to elucidate intrinsic cortical mechanisms underlying this effect, the neural circuits that initially couple locomotion to cortical processing are unknown. The mesencephalic locomotor region (MLR) has been shown to be capable of initiating running and is associated with the ascending reticular activating system. Here, we find that optogenetic stimulation of the MLR in awake, head-fixed mice can induce both locomotion and increases in the gain of cortical responses. MLR stimulation below the threshold for overt movement similarly changed cortical processing, revealing that MLR's effects on cortex are dissociable from locomotion. Likewise, stimulation of MLR projections to the basal forebrain also enhanced cortical responses, suggesting a pathway linking the MLR to cortex. These studies demonstrate that the MLR regulates cortical state in parallel with locomotion. Copyright © 2014 Elsevier Inc. All rights reserved.
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Sundaresan, Alamelu; Risin, Diana; Pellis, Neal R.; McIntire, L. V. (Principal Investigator)
2002-01-01
Inflammatory adherence to, and locomotion through the interstitium is an important component of the immune response. Conditions such as microgravity and modeled microgravity (MMG) severely inhibit lymphocyte locomotion in vitro through gelled type I collagen. We used the NASA rotating wall vessel bioreactor or slow-turning lateral vessel as a prototype for MMG in ground-based experiments. Previous experiments from our laboratory revealed that when lymphocytes (human peripheral blood mononuclear cells [PBMCs]) were first activated with phytohemaglutinin followed by exposure to MMG, locomotory capacity was not affected. In the present study, MMG inhibits lymphocyte locomotion in a manner similar to that observed in microgravity. Phorbol myristate acetate (PMA) treatment of PBMCs restored lost locomotory capacity by a maximum of 87%. Augmentation of cellular calcium flux with ionomycin had no restorative effect. Treatment of lymphocytes with mitomycin C prior to exposure to MMG, followed by PMA, restored locomotion to the same extent as when nonmitomycin C-treated lymphocytes were exposed to MMG (80-87%), suggesting that deoxyribonucleic acid replication is not essential for the restoration of locomotion. Thus, direct activation of protein kinase C (PKC) with PMA was effective in restoring locomotion in MMG comparable to the normal levels seen in Ig cultures. Therefore, in MMG, lymphocyte calcium signaling pathways were functional, with defects occurring at either the level of PKC or upstream of PKC.
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Neurobiology of Caenorhabditis elegans Locomotion: Where Do We Stand?
Gjorgjieva, Julijana; Biron, David; Haspel, Gal
2014-01-01
Animals use a nervous system for locomotion in some stage of their life cycle. The nematode Caenorhabditis elegans, a major animal model for almost all fields of experimental biology, has long been used for detailed studies of genetic and physiological locomotion mechanisms. Of its 959 somatic cells, 302 are neurons that are identifiable by lineage, location, morphology, and neurochemistry in every adult hermaphrodite. Of those, 75 motoneurons innervate body wall muscles that provide the thru...
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Nonlinear dynamics analysis of the spur gear system for railway locomotive
Wang, Junguo; He, Guangyue; Zhang, Jie; Zhao, Yongxiang; Yao, Yuan
2017-02-01
Considering the factors such as the nonlinearity backlash, static transmission error and time-varying meshing stiffness, a three-degree-of-freedom torsional vibration model of spur gear transmission system for a typical locomotive is developed, in which the wheel/rail adhesion torque is considered as uncertain but bounded parameter. Meantime, the Ishikawa method is used for analysis and calculation of the time-varying mesh stiffness of the gear pair in meshing process. With the help of bifurcation diagrams, phase plane diagrams, Poincaré maps, time domain response diagrams and amplitude-frequency spectrums, the effects of the pinion speed and stiffness on the dynamic behavior of gear transmission system for locomotive are investigated in detail by using the numerical integration method. Numerical examples reveal various types of nonlinear phenomena and dynamic evolution mechanism involving one-period responses, multi-periodic responses, bifurcation and chaotic responses. Some research results present useful information to dynamic design and vibration control of the gear transmission system for railway locomotive.
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Locomotion and basicranial anatomy in primates and marsupials.
Villamil, Catalina I
2017-10-01
There is ongoing debate in paleoanthropology about whether and how the anatomy of the cranium, and especially the cranial base, is evolving in response to locomotor and postural changes. However, the majority of studies focus on two-dimensional data, which fails to capture the complexity of cranial anatomy. This study tests whether three-dimensional cranial base anatomy is linked to locomotion or to other factors in primates (n = 473) and marsupials (n = 231). Results indicate that although there is a small effect of locomotion on cranial base anatomy in primates, this is not the case in marsupials. Instead, facial anatomy likely drives variation in cranial base anatomy in both primates and marsupials, with additional roles for body size and brain size. Although some changes to foramen magnum position and orientation are phylogenetically useful among the hominoids, they do not necessarily reflect locomotion or positional behavior. The interplay between locomotion, posture, and facial anatomy in primates requires further investigation. Copyright © 2017 Elsevier Ltd. All rights reserved.
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Dynamically Stable Legged Locomotion
1989-09-01
length during overground locomotion: task-specific modulation of the locomotor synergy. Journal of Experimental Psychology, 15(3). Raibert, M. I. 1986...energy conversions that intermediates between combus- tion of a fluid fuel such as gasoline , and the controlled delivery of force and power to the...question of this study: Can the extremely high energy density and rapid response of combustible fluid fuels such as gasoline be harnessed to produce
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Two-fluid model for locomotion under self-confinement
Reigh, Shang Yik; Lauga, Eric
2017-09-01
The bacterium Helicobacter pylori causes ulcers in the stomach of humans by invading mucus layers protecting epithelial cells. It does so by chemically changing the rheological properties of the mucus from a high-viscosity gel to a low-viscosity solution in which it may self-propel. We develop a two-fluid model for this process of swimming under self-generated confinement. We solve exactly for the flow and the locomotion speed of a spherical swimmer located in a spherically symmetric system of two Newtonian fluids whose boundary moves with the swimmer. We also treat separately the special case of an immobile outer fluid. In all cases, we characterize the flow fields, their spatial decay, and the impact of both the viscosity ratio and the degree of confinement on the locomotion speed of the model swimmer. The spatial decay of the flow retains the same power-law decay as for locomotion in a single fluid but with a decreased magnitude. Independent of the assumption chosen to characterize the impact of confinement on the actuation applied by the swimmer, its locomotion speed always decreases with an increase in the degree of confinement. Our modeling results suggest that a low-viscosity region of at least six times the effective swimmer size is required to lead to swimming with speeds similar to locomotion in an infinite fluid, corresponding to a region of size above ≈25 μ m for Helicobacter pylori.
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40 CFR 92.707 - Notification to locomotive or locomotive engine owners.
2010-07-01
... the nonconformity of any such locomotives or locomotive engines which have been, if required by the... affected by the remedy and a general statement of the measures to be taken to correct the nonconformity. (5) A description of the adverse effects, if any, that an uncorrected nonconformity would have on the...
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2010-10-01
... 49 Transportation 4 2010-10-01 2010-10-01 false Movement of a noise defective locomotive, rail car, or consist of a locomotive and rail cars. 210.9 Section 210.9 Transportation Other Regulations... locomotive, rail car, or consist of a locomotive and rail cars. A locomotive, rail car, or consist of a...
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49 CFR 238.223 - Locomotive fuel tanks.
2010-10-01
... 49 Transportation 4 2010-10-01 2010-10-01 false Locomotive fuel tanks. 238.223 Section 238.223... Equipment § 238.223 Locomotive fuel tanks. Locomotive fuel tanks shall comply with either the following or....21: (a) External fuel tanks. External locomotive fuel tanks shall comply with the requirements...
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49 CFR 229.121 - Locomotive cab noise.
2010-10-01
... 49 Transportation 4 2010-10-01 2010-10-01 false Locomotive cab noise. 229.121 Section 229.121... § 229.121 Locomotive cab noise. (a) Performance standards for locomotives. (1) When tested for static noise in accordance with paragraph (a)(3) of this section, all locomotives of each design or model that...
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The noise factor in railway locomotives.
Rotter, T
1982-09-01
This article concerns the problem of acoustic work conditions on railway locomotives. The objective results of sonometric surveys in locomotive cabins are compared with subject data received from locomotive crews obtained by means of a specific questionnaire 'The Subjective Estimation of Noise'. The analysis touched 9 type of locomotives; steam, diesel and electric engines. We asked drivers of different age groups and with varying lengths of professional service for their opinions The aim of the investigation was to determine the following points: 1. to analyse the drivers' subjective estimation of the noise in the locomotive cabins; 2. to define length of time for which the driver remains under the influence of the noise after finishing work; 3. to investigate the question of perception and understanding of sounds and vocal signals used in the locomotive. These problems are a small part of the general plan to improve work conditions on the Polish National Railways.
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Small-scale soft-bodied robot with multimodal locomotion
Hu, Wenqi; Lum, Guo Zhan; Mastrangeli, Massimo; Sitti, Metin
2018-02-01
Untethered small-scale (from several millimetres down to a few micrometres in all dimensions) robots that can non-invasively access confined, enclosed spaces may enable applications in microfactories such as the construction of tissue scaffolds by robotic assembly, in bioengineering such as single-cell manipulation and biosensing, and in healthcare such as targeted drug delivery and minimally invasive surgery. Existing small-scale robots, however, have very limited mobility because they are unable to negotiate obstacles and changes in texture or material in unstructured environments. Of these small-scale robots, soft robots have greater potential to realize high mobility via multimodal locomotion, because such machines have higher degrees of freedom than their rigid counterparts. Here we demonstrate magneto-elastic soft millimetre-scale robots that can swim inside and on the surface of liquids, climb liquid menisci, roll and walk on solid surfaces, jump over obstacles, and crawl within narrow tunnels. These robots can transit reversibly between different liquid and solid terrains, as well as switch between locomotive modes. They can additionally execute pick-and-place and cargo-release tasks. We also present theoretical models to explain how the robots move. Like the large-scale robots that can be used to study locomotion, these soft small-scale robots could be used to study soft-bodied locomotion produced by small organisms.
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[Job stress in locomotive attendants in a locomotive depot and related influencing factors].
Kang, L; Jia, X C; Lu, F; Zhou, W H; Chen, R
2017-10-20
Objective: To investigate the current status of job stress in locomotive attendants in a locomotive depot and related influencing factors. Methods: From 2012 to 2013, cluster sampling was used to select 1500 locomotive attendants in a locomotive depot in Zhengzhou Railway Bureau as respondents.The contents of the investigation included general data and occupational information.A job satisfaction questionnaire was used to investigate the degree of satisfaction, a depression scale was used to investigate the frequency of symptoms, and a daily stress scale was used to investigate the frequency of fatigue and stress. Results: There was a significant difference in depression score between locomotive attendants with different ages, working years, degrees of education, working situations of spouse, total monthly family incomes, numbers of times of attendanceat night, monthly numbers of times of attendance,ormonthly attendance times( P job satisfaction score between locomotive attendants with different ages,working years, degrees of education, working situations of spouse, total monthly family incomes, numbers of times of attendance at night, monthly attendance times,or ways to work( P job satisfaction( β =1.546)and monthly number of times of attendance,working years,attendance time at night,and degree of education were negatively correlated with job satisfaction( β =-0.185,-0.097,-0.020,and -1.106); monthly number of times of attendance andcommute time were positively correlated with depression( β =0.243 and 0.029); attendance time at night,working situation of spouse,commute time,monthly number of times of attendance,degree of education,and working years were positively correlated with daily stress( β =0.006,0.473,0.010,0.043,0.585, and 0.028). Conclusion: Number of times of attendance, attendance time,working years,and spouse are influencing factors for job stress in locomotive attendants. Improvement in work process and care for their personal life help to reduce
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Inferring Characteristics of Sensorimotor Behavior by Quantifying Dynamics of Animal Locomotion
Leung, KaWai
Locomotion is one of the most well-studied topics in animal behavioral studies. Many fundamental and clinical research make use of the locomotion of an animal model to explore various aspects in sensorimotor behavior. In the past, most of these studies focused on population average of a specific trait due to limitation of data collection and processing power. With recent advance in computer vision and statistical modeling techniques, it is now possible to track and analyze large amounts of behavioral data. In this thesis, I present two projects that aim to infer the characteristics of sensorimotor behavior by quantifying the dynamics of locomotion of nematode Caenorhabditis elegans and fruit fly Drosophila melanogaster, shedding light on statistical dependence between sensing and behavior. In the first project, I investigate the possibility of inferring noxious sensory information from the behavior of Caenorhabditis elegans. I develop a statistical model to infer the heat stimulus level perceived by individual animals from their stereotyped escape responses after stimulation by an IR laser. The model allows quantification of analgesic-like effects of chemical agents or genetic mutations in the worm. At the same time, the method is able to differentiate perturbations of locomotion behavior that are beyond affecting the sensory system. With this model I propose experimental designs that allows statistically significant identification of analgesic-like effects. In the second project, I investigate the relationship of energy budget and stability of locomotion in determining the walking speed distribution of Drosophila melanogaster during aging. The locomotion stability at different age groups is estimated from video recordings using Floquet theory. I calculate the power consumption of different locomotion speed using a biomechanics model. In conclusion, the power consumption, not stability, predicts the locomotion speed distribution at different ages.
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Directory of Open Access Journals (Sweden)
Noriko Wakabayashi-Ito
2015-07-01
Full Text Available Dystonia represents the third most common movement disorder in humans with over 20 genetic loci identified. TOR1A (DYT1, the gene responsible for the most common primary hereditary dystonia, encodes torsinA, an AAA ATPase family protein. Most cases of DYT1 dystonia are caused by a 3 bp (ΔGAG deletion that results in the loss of a glutamic acid residue (ΔE302/303 in the carboxyl terminal region of torsinA. This torsinAΔE mutant protein has been speculated to act in a dominant-negative manner to decrease activity of wild type torsinA. Drosophila melanogaster has a single torsin-related gene, dtorsin. Null mutants of dtorsin exhibited locomotion defects in third instar larvae. Levels of dopamine and GTP cyclohydrolase (GTPCH proteins were severely reduced in dtorsin-null brains. Further, the locomotion defect was rescued by the expression of human torsinA or feeding with dopamine. Here, we demonstrate that human torsinAΔE dominantly inhibited locomotion in larvae and adults when expressed in neurons using a pan-neuronal promoter Elav. Dopamine and tetrahydrobiopterin (BH4 levels were significantly reduced in larval brains and the expression level of GTPCH protein was severely impaired in adult and larval brains. When human torsinA and torsinAΔE were co-expressed in neurons in dtorsin-null larvae and adults, the locomotion rates and the expression levels of GTPCH protein were severely reduced. These results support the hypothesis that torsinAΔE inhibits wild type torsinA activity. Similarly, neuronal expression of a Drosophila DtorsinΔE equivalent mutation dominantly inhibited larval locomotion and GTPCH protein expression. These results indicate that both torsinAΔE and DtorsinΔE act in a dominant-negative manner. We also demonstrate that Dtorsin regulates GTPCH expression at the post-transcriptional level. This Drosophila model of DYT1 dystonia provides an important tool for studying the differences in the molecular function between the
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Bioinspired template-based control of legged locomotion
Ahmad Sharbafi, Maziar
2018-01-01
cient and robust locomotion is a crucial condition for the more extensive use of legged robots in real world applications. In that respect, robots can learn from animals, if the principles underlying locomotion in biological legged systems can be transferred to their artificial counterparts. However, legged locomotion in biological systems is a complex and not fully understood problem. A great progress to simplify understanding locomotion dynamics and control was made by introducing simple mo...
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Sundaresan, Alamelu; Kulkarni, Anil D.; Yamauchi, Keiko; Pellis, Neal R.
2006-09-01
Space travel and long-term space residence such as envisaged in the exploration era implicates burdens on the immune system. An optimal immune response is required to countered and with-stand exposure to pathogens. Countermeasure development is an important avenue in space research especially for long-term space exploration. Microgravity exposure causes detrimental effects in lymphocyte functions which may impair immune response. Impaired lymphocyte function can be remedied by bypassing cell membrane events. This is done by using compounds such as Phorbol Myristate Acetate (PMA). Since activation in mouse splenocytes was augmented using nucleotides, it was essential to observe their effects on human lymphocyte locomotion. A nucleotide/nucleoside (NT/NT) mixture from Otsuka Pharmaceuticals (Naruto, Japan) was used at recommended doses. In lymphocytes cultured in modeled microgravity, the NT/NT mixture used orchestrated locomotion recovery by more than 87%, similar to the response documented with PMA in lymphocytes. Both 12µM and 120µM doses worked similarly. These are preliminary results leading to the possible use of the NT/NT mixture to mitigate immune suppression in micro-gravity. More studies in this direction are required to delineate the role of NT/NT on the immune response in microgravity.
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Locomotive monitoring system using wireless sensor networks
CSIR Research Space (South Africa)
Croucamp, PL
2014-07-01
Full Text Available Theft of cables used for powering a locomotive not only stops the train from functioning but also paralyzes the signalling and monitoring system. This means that information on certain locomotive's cannot be passed onto other locomotives which may...
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Advanced underground Vehicle Power and Control: The locomotive Research Platform
Energy Technology Data Exchange (ETDEWEB)
Vehicle Projects LLC
2003-01-28
to the project) a new motor controller capable of operating the higher rpm motor and different power characteristics of the fuelcells. In early August 2002, CANMET, with the technical assistance of Nuvera Fuel Cells and Battery Electric, installed the new PLC software, installed the new motor controller, and installed the new fuelcell stacks. After minor adjustments, the fuelcell locomotive pulled its first fully loaded ore cars on a surface track. The fuelcell-powered locomotive easily matched the battery powered equivalent in its ability to pull tonnage and equaled the battery-powered locomotive in acceleration. The final task of Phase 2, testing the locomotive underground in a production environment, occurred in early October 2002 in a gold mine. All regulatory requirements to allow the locomotive underground were completed and signed off by Hatch Associates prior to going underground. During the production tests, the locomotive performed flawlessly with no failures or downtime. The actual tests occurred during a 2-week period and involved moving both gold ore and waste rock over a 1,000 meter track. Refueling, or recharging, of the metal-hydride storage took place on the surface. After each shift, the metal-hydride storage module was removed from the locomotive, transported to surface, and filled with hydrogen from high-pressure tanks. The beginning of each shift started with taking the fully recharged metal-hydride storage module down into the mine and re-installing it onto the locomotive. Each 8 hour shift consumed approximately one half to two thirds of the onboard hydrogen. This indicates that the fuelcell-powered locomotive can work longer than a similar battery-powered locomotive, which operates about 6 hours, before needing a recharge.
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2010-08-01
This report presents the results of a passenger locomotive fuel tank load test simulating jackknife derailment (JD) load. The test is based on FRA requirements for locomotive fuel tanks in the Title 49, Code of Federal Regulations (CFR), Part 238, Ap...
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Locomotive Schedule Optimization for Da-qin Heavy Haul Railway
Directory of Open Access Journals (Sweden)
Ruiye Su
2015-01-01
Full Text Available The main difference between locomotive schedule of heavy haul railways and that of regular rail transportation is the number of locomotives utilized for one train. One heavy-loaded train usually has more than one locomotive, but a regular train only has one. This paper develops an optimization model for the multilocomotive scheduling problem (MLSP through analyzing the current locomotive schedule of Da-qin Railway. The objective function of our paper is to minimize the total number of utilized locomotives. The MLSP is nondeterministic polynomial (NP hard. Therefore, we convert the multilocomotive traction problem into a single-locomotive traction problem. Then, the single-locomotive traction problem (SLTP can be converted into an assignment problem. The Hungarian algorithm is applied to solve the model and obtain the optimal locomotive schedule. We use the variance of detention time of locomotives at stations to evaluate the stability of locomotive schedule. In order to evaluate the effectiveness of the proposed optimization model, case studies for 20 kt and 30 kt heavy-loaded combined trains on Da-qin Railway are both conducted. Compared to the current schedules, the optimal schedules from the proposed models can save 62 and 47 locomotives for 20 kt and 30 kt heavy-loaded combined trains, respectively. Therefore, the effectiveness of the proposed model and its solution algorithm are both valid.
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Fundamentals of soft robot locomotion.
Calisti, M; Picardi, G; Laschi, C
2017-05-01
Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human-robot interaction and locomotion. Although field applications have emerged for soft manipulation and human-robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics. © 2017 The Author(s).
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Directory of Open Access Journals (Sweden)
Madoka Tonosaki
Full Text Available L1cam (L1 is a cell adhesion molecule associated with a spectrum of human neurological diseases, the most well-known being X-linked hydrocephalus. Although we recently demonstrated that L1 plays an important role in neuronal migration during cortical histogenesis, the mechanisms of delayed migration have still not been clarified. In this study, we found that cell locomotion in the intermediate zone and terminal translocation in the primitive cortical zone (PCZ were affected by L1-knockdown (L1-KD. Time-lapse analyses revealed that L1-KD neurons produced by in utero electroporation of shRNA targeting L1 (L1-shRNAs molecules showed decreased locomotion velocity in the intermediate zone, compared with control neurons. Furthermore, L1-KD neurons showed longer and more undulated leading processes during translocation through the primitive cortical zone. The curvature index, a quantitative index for curvilinearity, as well as the length of the leading process, were increased, whereas the somal movement was decreased in L1-KD neurons during terminal translocation in the PCZ. These results suggest that L1 has a role in radial migration of cortical neurons.
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The Need for Speed in Rodent Locomotion Analyses
Batka, Richard J.; Brown, Todd J.; Mcmillan, Kathryn P.; Meadows, Rena M.; Jones, Kathryn J.; Haulcomb, Melissa M.
2016-01-01
Locomotion analysis is now widely used across many animal species to understand the motor defects in disease, functional recovery following neural injury, and the effectiveness of various treatments. More recently, rodent locomotion analysis has become an increasingly popular method in a diverse range of research. Speed is an inseparable aspect of locomotion that is still not fully understood, and its effects are often not properly incorporated while analyzing data. In this hybrid manuscript, we accomplish three things: (1) review the interaction between speed and locomotion variables in rodent studies, (2) comprehensively analyze the relationship between speed and 162 locomotion variables in a group of 16 wild-type mice using the CatWalk gait analysis system, and (3) develop and test a statistical method in which locomotion variables are analyzed and reported in the context of speed. Notable results include the following: (1) over 90% of variables, reported by CatWalk, were dependent on speed with an average R2 value of 0.624, (2) most variables were related to speed in a nonlinear manner, (3) current methods of controlling for speed are insufficient, and (4) the linear mixed model is an appropriate and effective statistical method for locomotion analyses that is inclusive of speed-dependent relationships. Given the pervasive dependency of locomotion variables on speed, we maintain that valid conclusions from locomotion analyses cannot be made unless they are analyzed and reported within the context of speed. PMID:24890845
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40 CFR 1033.515 - Discrete-mode steady-state emission tests of locomotives and locomotive engines.
2010-07-01
... 40 Protection of Environment 32 2010-07-01 2010-07-01 false Discrete-mode steady-state emission... Procedures § 1033.515 Discrete-mode steady-state emission tests of locomotives and locomotive engines. This... a warm-up followed by a sequence of nominally steady-state discrete test modes, as described in...
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Locomotion Gait Planning of Climber Snake-Like Robot
Directory of Open Access Journals (Sweden)
Mohammad Nezaminia
2013-04-01
Full Text Available In this article a novel breed of snake-like climber robots has been introduced. Structure and operation of the first generation of snake-like climber robot "Marak I" has been discussed. The gait planning for two dimensional locomotion of a novel snake-like climber robot "Marak I" is presented. The types of locomotion investigated were rectilinear and wheeling gaits. The gaits of locomotion were experimented and their suitability for various applications has been mentioned. Some encountered practical problems plus solutions were addressed. Finally we found out that: the vertical motion was producing more fault than horizontal locomotion, and notably the fastest gait of locomotion was the wheeling gait
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In Pipe Robot with Hybrid Locomotion System
Directory of Open Access Journals (Sweden)
Cristian Miclauş
2015-06-01
Full Text Available The first part of the paper covers aspects concerning in pipe robots and their components, such as hybrid locomotion systems and the adapting mechanisms used. The second part describes the inspection robot that was developed, which combines tracked and wheeled locomotion (hybrid locomotion. The end of the paper presents the advantages and disadvantages of the proposed robot.
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Experimental investigation into the mechanism of the polygonal wear of electric locomotive wheels
Tao, Gongquan; Wang, Linfeng; Wen, Zefeng; Guan, Qinghua; Jin, Xuesong
2018-06-01
Experiments were conducted at field sites to investigate the mechanism of the polygonal wear of electric locomotive wheels. The polygonal wear rule of electric locomotive wheels was obtained. Moreover, two on-track tests have been carried out to investigate the vibration characteristics of the electric locomotive's key components. The measurement results of wheels out-of-round show that most electric locomotive wheels exhibit polygonal wear. The main centre wavelength in the 1/3 octave bands is 200 mm and/or 160 mm. The test results of vibration characteristics indicate that the dominating frequency of the vertical acceleration measured on the axle box is approximately equal to the passing frequency of a polygonal wheel, and does not vary with the locomotive speed during the acceleration course. The wheelset modal analysis using the finite element method (FEM) indicates that the first bending resonant frequency of the wheelset is quite close to the main vibration frequency of the axle box. The FEM results are verified by the experimental modal analysis of the wheelset. Moreover, different plans were designed to verify whether the braking system and the locomotive's adhesion control have significant influence on the wheel polygon or not. The test results indicate that they are not responsible for the initiation of the wheel polygon. The first bending resonance of the wheelset is easy to be excited in the locomotive operation and it is the root cause of wheel polygon with centre wavelength of 200 mm in the 1/3 octave bands.
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Multi-modal locomotion: from animal to application
International Nuclear Information System (INIS)
Lock, R J; Burgess, S C; Vaidyanathan, R
2014-01-01
The majority of robotic vehicles that can be found today are bound to operations within a single media (i.e. land, air or water). This is very rarely the case when considering locomotive capabilities in natural systems. Utility for small robots often reflects the exact same problem domain as small animals, hence providing numerous avenues for biological inspiration. This paper begins to investigate the various modes of locomotion adopted by different genus groups in multiple media as an initial attempt to determine the compromise in ability adopted by the animals when achieving multi-modal locomotion. A review of current biologically inspired multi-modal robots is also presented. The primary aim of this research is to lay the foundation for a generation of vehicles capable of multi-modal locomotion, allowing ambulatory abilities in more than one media, surpassing current capabilities. By identifying and understanding when natural systems use specific locomotion mechanisms, when they opt for disparate mechanisms for each mode of locomotion rather than using a synergized singular mechanism, and how this affects their capability in each medium, similar combinations can be used as inspiration for future multi-modal biologically inspired robotic platforms. (topical review)
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Steam Locomotives: a forgotten era
African Journals Online (AJOL)
The boiler was not armoured as the idea was that it was bullet proof. The locomotives were arranged into groups of five and for each group there was an engine as standby. As far as can be ascertained, locomotive No 537 was never armoured, but did work draw trains and freight trains during the Anglo-Boer War too.
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Development of a Novel Locomotion Algorithm for Snake Robot
International Nuclear Information System (INIS)
Khan, Raisuddin; Billah, Md Masum; Watanabe, Mitsuru; Shafie, A A
2013-01-01
A novel algorithm for snake robot locomotion is developed and analyzed in this paper. Serpentine is one of the renowned locomotion for snake robot in disaster recovery mission to overcome narrow space navigation. Several locomotion for snake navigation, such as concertina or rectilinear may be suitable for narrow spaces, but is highly inefficient if the same type of locomotion is used even in open spaces resulting friction reduction which make difficulties for snake movement. A novel locomotion algorithm has been proposed based on the modification of the multi-link snake robot, the modifications include alterations to the snake segments as well elements that mimic scales on the underside of the snake body. Snake robot can be able to navigate in the narrow space using this developed locomotion algorithm. The developed algorithm surmount the others locomotion limitation in narrow space navigation
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DEFF Research Database (Denmark)
Larsen, Jørgen Christian
, this is still not the case. One of the reasons for this is that science does still not fully understand the principles of dynamic locomotion which is a requirement for them to move around in our environment with stairs, obstacles etc. In this thesis the focus will be on the creation of the modular robotic...... it have been build. This will hopefully help to identify which parameters that are affecting the locomotive abilities of a legged robot the most. Experiments shows that the system in its current state is able for form legged robots of various kinds, and perform walking gaits where phenomenon’s also seen...
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Damages and resource of locomotive wheels used under the north operating conditions
Directory of Open Access Journals (Sweden)
A. V. Grigorev
2014-01-01
Full Text Available In operating railway equipment, in particular the elements, such as a wheel and a rail there is damage accumulation of any kind, causing a premature equipment failure. Thus, an analysis of the mechanisms and modeling of damage accumulation and fracture both on the surface and in the bulk material remain a challenge.Data on the defective wheel sets to be subjected to facing has been collected and analyzed to assess the locomotive wheel sets damage of the locomotive fleet company of AK «Yakutia Railways», city of Aldan, The Republic of Sakha (Yakutia. For this purpose, three main locomotives have been examined.The object of research carried out in this paper, is a locomotive wheels tire, which is subjected to cyclic impact (dynamic loads during operation. In this regard, the need arises to determine both the strength of material in response to such shock loads and the quantitative calculation of damage accumulated therein.The accumulated fatigue damage has been attributed to one radial cross section of the wheel coming into contact with the rail once per revolution of the wheel. Consequently, in one revolution a wheel is under one loading cycle. As stated, the average mileage of locomotives to have the unacceptable damages formed on the tread surface is 12 thousand km.Test results establish that along with the high-cycle loading the shock-contact action on rail joints significantly affects the accumulation of damage in the locomotive wheels tire. The number of cycles to failure due to the formation of unacceptable damage in the locomotive wheels tire is N = 2,4×106 and 6×105 cycles, respectively, for fatigue and shock-contact loading.In general, we can say that the problem of higher intensity to form the surface damage is directly related to the operation of the locomotive wheel tire under abnormally low climatic temperatures. With decreasing ambient temperature, this element material rapidly looses its plastic properties, thereby accelerating
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Locomotive Crash Energy Management Coupling Tests
2018-04-18
This paper describes the results of the CEM equipped locomotive coupling tests. In this set of tests, a moving CEM locomotive was coupled to a standing cab car. The primary objective was to demonstrate the robustness of the PBC design and determine t...
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Combining Bio-inspired Sensing with Bio-inspired Locomotion
DEFF Research Database (Denmark)
Shaikh, Danish; Hallam, John; Christensen-Dalsgaard, Jakob
In this paper we present a preliminary Braitenberg vehicle–like approach to combine bio-inspired audition with bio-inspired quadruped locomotion in simulation. Locomotion gaits of the salamander–like robot Salamandra robotica are modified by a lizard’s peripheral auditory system model that modula......In this paper we present a preliminary Braitenberg vehicle–like approach to combine bio-inspired audition with bio-inspired quadruped locomotion in simulation. Locomotion gaits of the salamander–like robot Salamandra robotica are modified by a lizard’s peripheral auditory system model...
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Using entropy measures to characterize human locomotion.
Leverick, Graham; Szturm, Tony; Wu, Christine Q
2014-12-01
Entropy measures have been widely used to quantify the complexity of theoretical and experimental dynamical systems. In this paper, the value of using entropy measures to characterize human locomotion is demonstrated based on their construct validity, predictive validity in a simple model of human walking and convergent validity in an experimental study. Results show that four of the five considered entropy measures increase meaningfully with the increased probability of falling in a simple passive bipedal walker model. The same four entropy measures also experienced statistically significant increases in response to increasing age and gait impairment caused by cognitive interference in an experimental study. Of the considered entropy measures, the proposed quantized dynamical entropy (QDE) and quantization-based approximation of sample entropy (QASE) offered the best combination of sensitivity to changes in gait dynamics and computational efficiency. Based on these results, entropy appears to be a viable candidate for assessing the stability of human locomotion.
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Goetz, Laurent; Piallat, Brigitte; Bhattacharjee, Manik; Mathieu, Hervé; David, Olivier; Chabardès, Stéphan
2016-05-04
The mesencephalic reticular formation (MRF) is formed by the pedunculopontine and cuneiform nuclei, two neuronal structures thought to be key elements in the supraspinal control of locomotion, muscle tone, waking, and REM sleep. The role of MRF has also been advocated in modulation of state of arousal leading to transition from wakefulness to sleep and it is further considered to be a main player in the pathophysiology of gait disorders seen in Parkinson's disease. However, the existence of a mesencephalic locomotor region and of an arousal center has not yet been demonstrated in primates. Here, we provide the first extensive electrophysiological mapping of the MRF using extracellular recordings at rest and during locomotion in a nonhuman primate (NHP) (Macaca fascicularis) model of bipedal locomotion. We found different neuronal populations that discharged according to a phasic or a tonic mode in response to locomotion, supporting the existence of a locomotor neuronal circuit within these MRF in behaving primates. Altogether, these data constitute the first electrophysiological characterization of a locomotor neuronal system present within the MRF in behaving NHPs under normal conditions, in accordance with several studies done in different experimental animal models. We provide the first extensive electrophysiological mapping of the two major components of the mesencephalic reticular formation (MRF), namely the pedunculopontine and cuneiform nuclei. We exploited a nonhuman primate (NHP) model of bipedal locomotion with extracellular recordings in behaving NHPs at rest and during locomotion. Different MRF neuronal groups were found to respond to locomotion, with phasic or tonic patterns of response. These data constitute the first electrophysiological evidences of a locomotor neuronal system within the MRF in behaving NHPs. Copyright © 2016 the authors 0270-6474/16/364917-13$15.00/0.
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76 FR 2199 - Locomotive Safety Standards
2011-01-12
..., alcohol and drug testing, locomotive engineer certification, and workplace safety. In 1980, FRA issued the...) Association of State Rail Safety Managers (ASRSM) Brotherhood of Locomotive Engineers and Trainmen (BLET... desirable to minimize the health and safety effects of temperature extremes. Depending upon the workplace...
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49 CFR 230.108 - Steam locomotive leading and trailing trucks.
2010-10-01
... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotive leading and trailing trucks. 230... RAILROAD ADMINISTRATION, DEPARTMENT OF TRANSPORTATION STEAM LOCOMOTIVE INSPECTION AND MAINTENANCE STANDARDS Steam Locomotives and Tenders Trucks, Frames and Equalizing System § 230.108 Steam locomotive leading...
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Problems of locomotive wheel wear in fleet replacement
Directory of Open Access Journals (Sweden)
L.P. Lingaytis
2013-08-01
Full Text Available Purpose. To conduct a research and find out the causes of defects appearing on the wheel thread of freight locomotives 2М62 and SIEMENS ER20CF. Methodology. To find the ways to solve this problem comparing the locomotive designs and their operating conditions. Findings. After examining the nature of the wheel wear the main difference was found: in locomotives of the 2M62 line wears the wheel flange, and in the locomotives SIEMENS ER20CF – the tread surface. After installation on the 2M62 locomotive the lubrication system of flanges their wear rate significantly decreased. On the new freight locomotives SIEMENS ER20CF the flange lubrication systems of the wheel set have been already installed at the factory, however the wheel thread is wearing. As for locomotives 2M62, and on locomotives SIEMENS ER20CF most wear profile skating wheels of the first wheel set. On both locomotive lines the 2М62 and the SIEMENS ER20CF the tread profile of the first wheel set most of all is subject to the wear. After reaching the 170 000 km run, the tread surface of some wheels begins to crumble. There was a suspicion that the reason for crumb formation of the wheel surface may be insufficient or excessive wheel hardness or its chemical composition. In order to confirm or deny this suspicion the following studies were conducted: the examination of the rim surface, the study of the wheel metal hardness and the document analysis of the wheel production and their comparison with the results of wheel hardness measurement. Practical value. The technical condition of locomotives is one of the bases of safety and reliability of the rolling stock. The reduction of the wheel wear significantly reduces the operating costs of railway transport. After study completion it was found that there was no evidence to suggest that the ratio of the wheel-rail hardness could be the cause of the wheel surface crumbling.
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77 FR 21311 - Locomotive Safety Standards
2012-04-09
... preparedness, alcohol and drug testing, locomotive engineer certification, and workplace safety. In 1980, FRA... Association (ATDA) Amtrak AAR Association of Railway Museums (ARM) Association of State Rail Safety Managers... Administration 49 CFR Parts 229 and 238 Locomotive Safety Standards; Final Rule #0;#0;Federal Register / Vol. 77...
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Chevallereau, Christine; Boyer, Frédéric; Porez, Mathieu; Mauny, Johan; Aoustin, Yannick
2017-06-20
To a large extent, robotics locomotion can be viewed as cyclic motions, named gaits. Due to the high complexity of the locomotion dynamics, to find the control laws that ensure an expected gait and its stability with respect to external perturbations, is a challenging issue for feedback control. To address this issue, a promising way is to take inspiration from animals that intensively exploit the interactions of the passive degrees of freedom of their body with their physical surroundings, to outsource the high-level exteroceptive feedback control to low-level proprioceptive ones. In this case, passive interactions can ensure most of the expected control goals. In this article, we propose a methodological framework to study the role of morphology in the design of locomotion gaits and their stability. This framework ranges from modelling to control aspects, and is illustrated through three examples from bio-inspired locomotion: a three-dimensional micro air vehicle in hovering flight, a pendular planar climber and a bipedal planar walker. In these three cases, we will see how simple considerations based on the morphology of the body can ensure the existence of passive stable gaits without requiring any high-level control.
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Energy Technology Data Exchange (ETDEWEB)
Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry; Feddema, John Todd; Spletzer, Barry Louis; Rose, Scott E.; Novick, David Keith; Wilson, David Gerald; Buerger, Stephen P.
2007-01-01
This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics natural human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.
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Blunt impact tests of retired passenger locomotive fuel tanks
2017-08-01
The Transportation Technology Center, Inc. conducted impact tests on three locomotive fuel tanks as part of the Federal Railroad Administrations locomotive fuel tank crashworthiness improvement program. Three fuel tanks, two from EMD F40PH locomot...
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The mechanics of slithering locomotion.
Hu, David L; Nirody, Jasmine; Scott, Terri; Shelley, Michael J
2009-06-23
In this experimental and theoretical study, we investigate the slithering of snakes on flat surfaces. Previous studies of slithering have rested on the assumption that snakes slither by pushing laterally against rocks and branches. In this study, we develop a theoretical model for slithering locomotion by observing snake motion kinematics and experimentally measuring the friction coefficients of snakeskin. Our predictions of body speed show good agreement with observations, demonstrating that snake propulsion on flat ground, and possibly in general, relies critically on the frictional anisotropy of their scales. We have also highlighted the importance of weight distribution in lateral undulation, previously difficult to visualize and hence assumed uniform. The ability to redistribute weight, clearly of importance when appendages are airborne in limbed locomotion, has a much broader generality, as shown by its role in improving limbless locomotion.
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EVALUATION OF DYNAMIC INDICATORS OF SIX-AXLE LOCOMOTIVE
Directory of Open Access Journals (Sweden)
S. V. Myamlin
2015-04-01
Full Text Available Purpose. The paper is devoted to dynamic characteristics evaluation of the locomotive with prospective design and determination the feasibility of its use on the Ukrainian railways. Methodology. The methods of mathematical and computer modeling of the dynamics of railway vehicles, as well as methods for the numerical integration of systems of ordinary nonlinear differential equations were used to solve the problem. Findings. The calculated diagram of a locomotive on three-axle bogies was built to solve the problem, and it is a system of rigid bodies connected by various elements of rheology. The mathematical model of the locomotive movement, allowing studying its spatial vibrations at driving on straight and curved sections of the track with random irregularities in plan and profile was developed with use of this calculated diagram. At compiling the mathematical model took into account both geometric (nonlinearity profile of the wheel roll surface and physical nonlinearity of the system (the work forces of dry friction, nonlinearity characteristics of interaction forces between wheels and rails. The multivariate calculations, which allowed assessing the dynamic qualities of the locomotive at its movement along straight and curved sections of the track, were realized with the use of computer modeling. The smoothness movement indicators of the locomotive in horizontal and vertical planes, frame strength, coefficients of vertical dynamics in the first and second stages of the suspension, the load factor of resistance against the derailment of the wheel from the rail were determined at the period of research. In addition, a comparison of the obtained results with similar characteristics is widely used on the Ukrainian railways in six-axle locomotive TE 116. The influence of speed and technical state of the track on the locomotive traffic safety was determined.Originality. A mathematical model of the spatial movement of a six-axle locomotive with
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Fundamentals of soft robot locomotion
Calisti, M.; Picardi, G.; Laschi, C.
2017-01-01
Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human���robot interaction and locomotion. Although field applications have emerged for soft manipulation and human���robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This p...
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Railroad and locomotive technology roadmap.
Energy Technology Data Exchange (ETDEWEB)
Stodolsky, F.; Gaines, L.; Energy Systems
2003-02-24
Railroads are important to the U.S. economy. They transport freight efficiently, requiring less energy and emitting fewer pollutants than other modes of surface transportation. While the railroad industry has steadily improved its fuel efficiency--by 16% over the last decade--more can, and needs to, be done. The ability of locomotive manufacturers to conduct research into fuel efficiency and emissions reduction is limited by the small number of locomotives manufactured annually. Each year for the last five years, the two North American locomotive manufacturers--General Electric Transportation Systems and the Electro-Motive Division of General Motors--have together sold about 800 locomotives in the United States. With such a small number of units over which research costs can be spread, outside help is needed to investigate all possible ways to reduce fuel usage and emissions. Because fuel costs represent a significant portion of the total operating costs of a railroad, fuel efficiency has always been an important factor in the design of locomotives and in the operations of a railroad. However, fuel efficiency has recently become even more critical with the introduction of strict emission standards by the U.S. Environmental Protection Agency, to be implemented in stages (Tiers 0, 1, and 2) between 2000 and 2005. Some of the technologies that could be employed to meet the emission standards may negatively affect fuel economy--by as much as 10-15% when emissions are reduced to Tier 1 levels. Lowering fuel economy by that magnitude would have a serious impact on the cost to the consumer of goods shipped by rail, on the competitiveness of the railroad industry, and on this country's dependence on foreign oil. Clearly, a joint government/industry R&D program is needed to help catalyze the development of advanced technologies that will substantially reduce locomotive engine emissions while also improving train system energy efficiency. DOE convened an industry
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The Human Central Pattern Generator for Locomotion.
Minassian, Karen; Hofstoetter, Ursula S; Dzeladini, Florin; Guertin, Pierre A; Ijspeert, Auke
2017-03-01
The ability of dedicated spinal circuits, referred to as central pattern generators (CPGs), to produce the basic rhythm and neural activation patterns underlying locomotion can be demonstrated under specific experimental conditions in reduced animal preparations. The existence of CPGs in humans is a matter of debate. Equally elusive is the contribution of CPGs to normal bipedal locomotion. To address these points, we focus on human studies that utilized spinal cord stimulation or pharmacological neuromodulation to generate rhythmic activity in individuals with spinal cord injury, and on neuromechanical modeling of human locomotion. In the absence of volitional motor control and step-specific sensory feedback, the human lumbar spinal cord can produce rhythmic muscle activation patterns that closely resemble CPG-induced neural activity of the isolated animal spinal cord. In this sense, CPGs in humans can be defined by the activity they produce. During normal locomotion, CPGs could contribute to the activation patterns during specific phases of the step cycle and simplify supraspinal control of step cycle frequency as a feedforward component to achieve a targeted speed. Determining how the human CPGs operate will be essential to advance the theory of neural control of locomotion and develop new locomotor neurorehabilitation paradigms.
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Le Shuttle, the locomotive from Eurotunnel
Gabriel MOISA
2002-01-01
This paper present some performances of locomotive ‘Le Shuttle’, so-called locomotive from ‘Eurotunnel’, techniques characteristics of traction motors 6 FHA 7079 and converters witch use it, the principal electric scheme and its function principle and no at last rind the principle scheme of command-control equipment MICAS-S2 with detailed description of its operation mode.
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49 CFR 230.101 - Steam locomotive driving journal boxes.
2010-10-01
... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotive driving journal boxes. 230.101... Locomotives and Tenders Running Gear § 230.101 Steam locomotive driving journal boxes. (a) Driving journal boxes. Driving journal boxes shall be maintained in a safe and suitable condition for service. Not more...
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DESIGN IMPROVEMENT OF THE LOCOMOTIVE RUNNING GEARS
Directory of Open Access Journals (Sweden)
S. V. Myamlin
2013-09-01
Full Text Available Purpose. To determine the dynamic qualities of the mainline freight locomotives characterizing the safe motion in tangent and curved track sections at all operational speeds, one needs a whole set of studies, which includes a selection of the design scheme, development of the corresponding mathematical model of the locomotive spatial fluctuations, construction of the computer calculation program, conducting of the theoretical and then experimental studies of the new designs. In this case, one should compare the results with existing designs. One of the necessary conditions for the qualitative improvement of the traction rolling stock is to define the parameters of its running gears. Among the issues related to this problem, an important place is occupied by the task of determining the locomotive dynamic properties on the stage of projection, taking into account the selected technical solutions in the running gear design. Methodology. The mathematical modeling studies are carried out by the numerical integration method of the dynamic loading for the mainline locomotive using the software package «Dynamics of Rail Vehicles » («DYNRAIL». Findings. As a result of research for the improvement of locomotive running gear design it can be seen that the creation of the modern locomotive requires from engineers and scientists the realization of scientific and technical solutions. The solutions enhancing design speed with simultaneous improvement of the traction, braking and dynamic qualities to provide a simple and reliable design, especially the running gear, reducing the costs for maintenance and repair, low initial cost and operating costs for the whole service life, high traction force when starting, which is as close as possible to the ultimate force of adhesion, the ability to work in multiple traction mode and sufficient design speed. Practical Value. The generalization of theoretical, scientific and methodological, experimental studies aimed
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Boldness and intermittent locomotion in the bluegill sunfish, Lepomis macrochirus
Alexander D.M. Wilson; Jean-Guy J. Godin
2009-01-01
Intermittent locomotion, characterized by moves interspersed with pauses, is a common pattern of locomotion in animals, but its ecological and evolutionary significance relative to continuous locomotion remains poorly understood. Although many studies have examined individual differences in both intermittent locomotion and boldness separately, to our knowledge, no study to date has investigated the relationship between these 2 traits. Characterizing and understanding this relationship is impo...
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Le Shuttle, the locomotive from Eurotunnel
Directory of Open Access Journals (Sweden)
Gabriel MOISA
2002-12-01
Full Text Available This paper present some performances of locomotive ‘Le Shuttle’, so-called locomotive from ‘Eurotunnel’, techniques characteristics of traction motors 6 FHA 7079 and converters witch use it, the principal electric scheme and its function principle and no at last rind the principle scheme of command-control equipment MICAS-S2 with detailed description of its operation mode.
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The Need for Speed in Rodent Locomotion Analyses
Batka, Richard J.; Brown, Todd J.; Mcmillan, Kathryn P.; Meadows, Rena M.; Jones, Kathryn J.; Haulcomb, Melissa M.
2014-01-01
Locomotion analysis is now widely used across many animal species to understand the motor defects in disease, functional recovery following neural injury, and the effectiveness of various treatments. More recently, rodent locomotion analysis has become an increasingly popular method in a diverse range of research. Speed is an inseparable aspect of locomotion that is still not fully understood, and its effects are often not properly incorporated while analyzing data. In this hybrid manuscript,...
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Lizard locomotion in heterogeneous granular media
Schiebel, Perrin; Goldman, Daniel
2014-03-01
Locomotion strategies in heterogeneous granular environments (common substrates in deserts), are relatively unexplored. The zebra-tailed lizard (C. draconoides) is a useful model organism for such studies owing to its exceptional ability to navigate a variety of desert habitats at impressive speed (up to 50 body-lengths per second) using both quadrapedal and bidepal gaits. In laboratory experiments, we challenge the lizards to run across a field of boulders (2.54 cm diameter glass spheres or 3.8 cm 3D printed spheres) placed in a lattice pattern and embedded in a loosely packed granular medium of 0.3 mm diameter glass particles. Locomotion kinematics of the lizard are recorded using high speed cameras, with and without the scatterers. The data reveals that unlike the lizard's typical quadrupedal locomotion using a diagonal gait, when scatterers are present the lizard is most successful when using a bipedal gait, with a raised center of mass (CoM). We propose that the kinematics of bipedal running in conjunction with the lizard's long toes and compliant hind foot are the keys to this lizard's successful locomotion in the presence of such obstacles. NSF PoLS
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Chevallereau , Christine; Boyer , Frédéric; Porez , Mathieu; Mauny , Johan; Aoustin , Yannick
2017-01-01
International audience; — To a large extent, robotics locomotion can be viewed as cyclic motions, named gaits. Due to the high complexity of the locomotion dynamics, to find the control laws that ensure an expected gait and its stability with respect to external perturbations, is a challenging issue for feedback control. To address this issue, a promising way is to take inspiration from animals that intensively exploit the interactions of the passive degrees of freedom of their body with thei...
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Architectures of soft robotic locomotion enabled by simple mechanical principles.
Zhu, Liangliang; Cao, Yunteng; Liu, Yilun; Yang, Zhe; Chen, Xi
2017-06-28
In nature, a variety of limbless locomotion patterns flourish, from the small or basic life forms (Escherichia coli, amoebae, etc.) to the large or intelligent creatures (e.g., slugs, starfishes, earthworms, octopuses, jellyfishes, and snakes). Many bioinspired soft robots based on locomotion have been developed in the past few decades. In this work, based on the kinematics and dynamics of two representative locomotion modes (i.e., worm-like crawling and snake-like slithering), we propose a broad set of innovative designs for soft mobile robots through simple mechanical principles. Inspired by and going beyond the existing biological systems, these designs include 1-D (dimensional), 2-D, and 3-D robotic locomotion patterns enabled by the simple actuation of continuous beams. We report herein over 20 locomotion modes achieving various locomotion functions, including crawling, rising, running, creeping, squirming, slithering, swimming, jumping, turning, turning over, helix rolling, wheeling, etc. Some are able to reach high speed, high efficiency, and overcome obstacles. All these locomotion strategies and functions can be integrated into a simple beam model. The proposed simple and robust models are adaptive for severe and complex environments. These elegant designs for diverse robotic locomotion patterns are expected to underpin future deployments of soft robots and to inspire a series of advanced designs.
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The investigation of the locomotive boiler material
International Nuclear Information System (INIS)
Tucholski, Z.; Wasiak, J.; Bilous, W.; Hajewska, E.
2006-01-01
In the paper, the history of narrow-gauge railway system is described. The other information about the steam locomotive construction, as well as the technical regulations of its construction and exploitation are also done. The results of the studies of the locomotive boiler material are presented. (authors)
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49 CFR 230.90 - Draw gear between steam locomotive and tender.
2010-10-01
... 49 Transportation 4 2010-10-01 2010-10-01 false Draw gear between steam locomotive and tender. 230... Steam Locomotives and Tenders Draw Gear and Draft Systems § 230.90 Draw gear between steam locomotive and tender. (a) Maintenance and testing. The draw gear between the steam locomotive and tender...
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Coupling of cytoskeleton functions for fibroblast locomotion
DEFF Research Database (Denmark)
Couchman, J R; Lenn, M; Rees, D A
1985-01-01
caused visible protrusions in projected positions at the leading edge. We conclude that fibroblast locomotion may be driven coordinately by a common set of motility mechanisms and that this coordination may be lost as a result of physical or pharmacological disturbance. Taking our evidence with results...... from other Laboratories, we propose the following cytoskeleton functions. (i) Protrusive activity, probably based on solation--gelation cycles of the actin based cytoskeleton and membrane recycling which provides cellular and membrane components for streaming through the cell body to the leading edge...
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49 CFR 230.106 - Steam locomotive frame.
2010-10-01
... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotive frame. 230.106 Section 230.106... Tenders Trucks, Frames and Equalizing System § 230.106 Steam locomotive frame. (a) Maintenance and inspection. Frames, decks, plates, tailpieces, pedestals, and braces shall be maintained in a safe and...
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Expression of emotion in the kinematics of locomotion.
Barliya, Avi; Omlor, Lars; Giese, Martin A; Berthoz, Alain; Flash, Tamar
2013-03-01
Here, we examine how different emotions-happiness, fear, sadness and anger-affect the kinematics of locomotion. We focus on a compact representation of locomotion properties using the intersegmental law of coordination (Borghese et al. in J Physiol 494(3):863-879, 1996), which states that, during the gait cycle of human locomotion, the elevation angles of the thigh, shank and foot do not evolve independently of each other but form a planar pattern of co-variation. This phenomenon is highly robust and has been extensively studied. The orientation of the plane has been correlated with changes in the speed of locomotion and with reduction in energy expenditure as speed increases. An analytical model explaining the conditions underlying the emergence of this plane and predicting its orientation reveals that it suffices to examine the amplitudes of the elevation angles of the different segments along with the phase shifts between them (Barliya et al. in Exp Brain Res 193:371-385, 2009). We thus investigated the influence of different emotions on the parameters directly determining the orientation of the intersegmental plane and on the angular rotation profiles of the leg segments, examining both the effect of changes in walking speed and effects independent of speed. Subjects were professional actors and naïve subjects with no training in acting. As expected, emotions were found to strongly affect the kinematics of locomotion, particularly walking speed. The intersegmental coordination patterns revealed that emotional expression caused additional modifications to the locomotion patterns that could not be explained solely by a change in speed. For all emotions except sadness, the amplitude of thigh elevation angles changed from those in neutral locomotion. The intersegmental plane was also differently oriented, especially during anger. We suggest that, while speed is the dominant variable allowing discrimination between different emotional gaits, emotion can be
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Development of human locomotion.
Lacquaniti, Francesco; Ivanenko, Yuri P; Zago, Myrka
2012-10-01
Neural control of locomotion in human adults involves the generation of a small set of basic patterned commands directed to the leg muscles. The commands are generated sequentially in time during each step by neural networks located in the spinal cord, called Central Pattern Generators. This review outlines recent advances in understanding how motor commands are expressed at different stages of human development. Similar commands are found in several other vertebrates, indicating that locomotion development follows common principles of organization of the control networks. Movements show a high degree of flexibility at all stages of development, which is instrumental for learning and exploration of variable interactions with the environment. Copyright © 2012 Elsevier Ltd. All rights reserved.
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2011-09-01
This report presents the test results and finite element correlations of a full-scale dynamic collision between a locomotive and a highway truck loaded with two heavy steel coils. The locomotive consist was moving at 58 miles per hour before it struc...
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Origami-based earthworm-like locomotion robots.
Fang, Hongbin; Zhang, Yetong; Wang, K W
2017-10-16
Inspired by the morphology characteristics of the earthworms and the excellent deformability of origami structures, this research creates a novel earthworm-like locomotion robot through exploiting the origami techniques. In this innovation, appropriate actuation mechanisms are incorporated with origami ball structures into the earthworm-like robot 'body', and the earthworm's locomotion mechanism is mimicked to develop a gait generator as the robot 'centralized controller'. The origami ball, which is a periodic repetition of waterbomb units, could output significant bidirectional (axial and radial) deformations in an antagonistic way similar to the earthworm's body segment. Such bidirectional deformability can be strategically programmed by designing the number of constituent units. Experiments also indicate that the origami ball possesses two outstanding mechanical properties that are beneficial to robot development: one is the structural multistability in the axil direction that could contribute to the robot control implementation; and the other is the structural compliance in the radial direction that would increase the robot robustness and applicability. To validate the origami-based innovation, this research designs and constructs three robot segments based on different axial actuators: DC-motor, shape-memory-alloy springs, and pneumatic balloon. Performance evaluations reveal their merits and limitations, and to prove the concept, the DC-motor actuation is selected for building a six-segment robot prototype. Learning from earthworms' fundamental locomotion mechanism-retrograde peristalsis wave, seven gaits are automatically generated; controlled by which, the robot could achieve effective locomotion with qualitatively different modes and a wide range of average speeds. The outcomes of this research could lead to the development of origami locomotion robots with low fabrication costs, high customizability, light weight, good scalability, and excellent re-configurability.
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How animals move: comparative lessons on animal locomotion.
Schaeffer, Paul J; Lindstedt, Stan L
2013-01-01
Comparative physiology often provides unique insights in animal structure and function. It is specifically through this lens that we discuss the fundamental properties of skeletal muscle and animal locomotion, incorporating variation in body size and evolved difference among species. For example, muscle frequencies in vivo are highly constrained by body size, which apparently tunes muscle use to maximize recovery of elastic recoil potential energy. Secondary to this constraint, there is an expected linking of skeletal muscle structural and functional properties. Muscle is relatively simple structurally, but by changing proportions of the few muscle components, a diverse range of functional outputs is possible. Thus, there is a consistent and predictable relation between muscle function and myocyte composition that illuminates animal locomotion. When animals move, the mechanical properties of muscle diverge from the static textbook force-velocity relations described by A. V. Hill, as recovery of elastic potential energy together with force and power enhancement with activation during stretch combine to modulate performance. These relations are best understood through the tool of work loops. Also, when animals move, locomotion is often conveniently categorized energetically. Burst locomotion is typified by high-power outputs and short durations while sustained, cyclic, locomotion engages a smaller fraction of the muscle tissue, yielding lower force and power. However, closer examination reveals that rather than a dichotomy, energetics of locomotion is a continuum. There is a remarkably predictable relationship between duration of activity and peak sustainable performance.
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Emotion through locomotion: gender impact.
Directory of Open Access Journals (Sweden)
Samuel Krüger
Full Text Available Body language reading is of significance for daily life social cognition and successful social interaction, and constitutes a core component of social competence. Yet it is unclear whether our ability for body language reading is gender specific. In the present work, female and male observers had to visually recognize emotions through point-light human locomotion performed by female and male actors with different emotional expressions. For subtle emotional expressions only, males surpass females in recognition accuracy and readiness to respond to happy walking portrayed by female actors, whereas females exhibit a tendency to be better in recognition of hostile angry locomotion expressed by male actors. In contrast to widespread beliefs about female superiority in social cognition, the findings suggest that gender effects in recognition of emotions from human locomotion are modulated by emotional content of actions and opposite actor gender. In a nutshell, the study makes a further step in elucidation of gender impact on body language reading and on neurodevelopmental and psychiatric deficits in visual social cognition.
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The aspect of vector control using the asynchronous traction motor in locomotives
Directory of Open Access Journals (Sweden)
L. Liudvinavičius
2009-12-01
Full Text Available The article examines curves controlling asynchronous traction motors increasingly used in locomotive electric drives the main task of which is to create a tractive effort-speed curve of an ideal locomotive Fk = f(v, including a hyperbolic area the curve of which will create conditions showing that energy created by the diesel engine of diesel locomotives (electric locomotives and in case of electric trains, electricity taken from the contact network over the entire range of locomotive speed is turned into efficient work. Mechanical power on wheel sets is constant Pk = Fkv = const, the power of the diesel engine is fully used over the entire range of locomotive speed. Tractive effort-speed curve Fk(v shows the dependency of locomotive traction power Fk on movement speed v. The article presents theoretical and practical aspects relevant to creating the structure of locomotive electric drive and selecting optimal control that is especially relevant to creating the structure of locomotive electric drive using ATM (asynchronous traction motor that gains special popularity in traction rolling stock replacing DC traction motors having low reliability. The frequency modes of asynchronous motor speed regulation are examined. To control ATM, the authors suggest the method of vector control presenting the structural schemes of a locomotive with ATM and control algorithm.
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49 CFR 230.12 - Movement of non-complying steam locomotives.
2010-10-01
... 49 Transportation 4 2010-10-01 2010-10-01 false Movement of non-complying steam locomotives. 230... General General Inspection Requirements § 230.12 Movement of non-complying steam locomotives. (a) General limitations on movement. A steam locomotive with one or more non-complying conditions may be moved only as a...
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Smith, Cassie; Lee, Stuart MC; Laughlin, Mitzi; Loehr, James; Norcross, Jason; DeWitt, John; Hagan, R. D.
2006-01-01
Treadmill locomotion is used onboard the International Space Station (ISS) as a countermeasure to the effects of prolonged weightlessness. The treadmill operates in two modes: motorized (T-M) and non-motorized (T-NM). Little is known about the potential physiologic differences between modes which may affect countermeasure exercise prescription. PURPOSE: To quantify heart rate (HR), oxygen consumption (VO2), perceived exertion (RPE), and blood lactate (BLa) during T-M and T-NM locomotion at 2 and 4 mph in normal ambulatory subjects. METHODS: Twenty subjects (10 men, 10 women; 31+/-5 yr, 172+/-10 cm, 68+/-13 kg, mean SD) with a treadmill peakVO2 of 45.5+/-5.4 ml/kg/min (mean+/-SD) exercised on the ground-based ISS treadmill. Following a familiarization session in each mode, subjects completed two data collection sessions, T-M and T-NM in random order, at 2 and 4 mph. Subjects attempted to complete 5 min of exercise at each speed; if they could not maintain the speed, the trial was discontinued. At least 5 minutes of rest separated each speed trial, and at least 48 hrs separated each session. VO2 was measured continuously (metabolic gas analysis), while HR (HR monitor) and RPE (Borg Chart, 6-20 scale) were recorded each min. Not all subjects completed 5 min during each condition, therefore the mean of the min 3 and 4 was taken as representative of steady-state. BLa was measured (finger stick) within 2 min post-exercise. Paired t-tests were used to test for differences (p<0.05) between treadmill modes within the same speed. RESULTS: All twenty subjects completed at least 4 min of exercise during all conditions, except T-NM 4 mph when only 11 subjects completed the minimum exercise duration. VO2, HR, RPE and BLa were significantly higher during T-NM locomotion at both speeds.
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INFORMATION-MEASURING TEST SYSTEM OF DIESEL LOCOMOTIVE HYDRAULIC TRANSMISSIONS
Directory of Open Access Journals (Sweden)
I. V. Zhukovytskyy
2015-08-01
Full Text Available Purpose. The article describes the process of developing the information-measuring test system of diesel locomotives hydraulic transmission, which gives the possibility to obtain baseline data to conduct further studies for the determination of the technical condition of diesel locomotives hydraulic transmission. The improvement of factory technology of post-repair tests of hydraulic transmissions by automating the existing hydraulic transmission test stands according to the specifications of the diesel locomotive repair enterprises was analyzed. It is achieved based on a detailed review of existing foreign information-measuring test systems for hydraulic transmission of diesel locomotives, BelAZ earthmover, aircraft tug, slag car, truck, BelAZ wheel dozer, some brands of tractors, etc. The problem for creation the information-measuring test systems for diesel locomotive hydraulic transmission is being solved, starting in the first place from the possibility of automation of the existing test stand of diesel locomotives hydraulic transmission at Dnipropetrovsk Diesel Locomotive Repair Plant "Promteplovoz". Methodology. In the work the researchers proposed the method to create a microprocessor automated system of diesel locomotives hydraulic transmission stand testing in the locomotive plant conditions. It acts by justifying the selection of the necessary sensors, as well as the application of the necessary hardware and software for information-measuring systems. Findings. Based on the conducted analysis there was grounded the necessity of improvement the plant hydraulic transmission stand testing by creating a microprocessor testing system, supported by the experience of developing such systems abroad. Further research should be aimed to improve the accuracy and frequency of data collection by adopting the more modern and reliable sensors in tandem with the use of filtering software for electromagnetic and other interference. Originality. The
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Hybrid Locomotion Evaluation for a Novel Amphibious Spherical Robot
Directory of Open Access Journals (Sweden)
Huiming Xing
2018-01-01
Full Text Available We describe the novel, multiply gaited, vectored water-jet, hybrid locomotion-capable, amphibious spherical robot III (termed ASR-III featuring a wheel-legged, water-jet composite driving system incorporating a lifting and supporting wheel mechanism (LSWM and mechanical legs with a water-jet thruster. The LSWM allows the ASR-III to support the body and slide flexibly on smooth (flat terrain. The composite driving system facilitates two on-land locomotion modes (sliding and walking and underwater locomotion mode with vectored thrusters, improving adaptability to the amphibious environment. Sliding locomotion improves the stability and maneuverability of ASR-III on smooth flat terrain, whereas walking locomotion allows ASR-III to conquer rough terrain. We used both forward and reverse kinematic models to evaluate the walking and sliding gait efficiency. The robot can also realize underwater locomotion with four vectored water-jet thrusters, and is capable of forward motion, heading angle control and depth control. We evaluated LSWM efficiency and the sliding velocities associated with varying extensions of the LSWM. To explore gait stability and mobility, we performed on-land experiments on smooth flat terrain to define the optimal stride length and frequency. We also evaluated the efficacy of waypoint tracking when the sliding gait was employed, using a closed-loop proportional-integral-derivative (PID control mechanism. Moreover, experiments of forward locomotion, heading angle control and depth control were conducted to verify the underwater performance of ASR-III. Comparison of the previous robot and ASR-III demonstrated the ASR-III had better amphibious motion performance.
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Towards a general neural controller for quadrupedal locomotion.
Maufroy, Christophe; Kimura, Hiroshi; Takase, Kunikatsu
2008-05-01
Our study aims at the design and implementation of a general controller for quadruped locomotion, allowing the robot to use the whole range of quadrupedal gaits (i.e. from low speed walking to fast running). A general legged locomotion controller must integrate both posture control and rhythmic motion control and have the ability to shift continuously from one control method to the other according to locomotion speed. We are developing such a general quadrupedal locomotion controller by using a neural model involving a CPG (Central Pattern Generator) utilizing ground reaction force sensory feedback. We used a biologically faithful musculoskeletal model with a spine and hind legs, and computationally simulated stable stepping motion at various speeds using the neuro-mechanical system combining the neural controller and the musculoskeletal model. We compared the changes of the most important locomotion characteristics (stepping period, duty ratio and support length) according to speed in our simulations with the data on real cat walking. We found similar tendencies for all of them. In particular, the swing period was approximately constant while the stance period decreased with speed, resulting in a decreasing stepping period and duty ratio. Moreover, the support length increased with speed due to the posterior extreme position that shifted progressively caudally, while the anterior extreme position was approximately constant. This indicates that we succeeded in reproducing to some extent the motion of a cat from the kinematical point of view, even though we used a 2D bipedal model. We expect that such computational models will become essential tools for legged locomotion neuroscience in the future.
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Nonlinear control methods for planar carangiform robot fish locomotion
Morgansen, Kristi A.; Duindam, Vincent; Mason, Richard J.; Burdick, Joel W.; Murray, Richard M.
2001-01-01
Considers the design of motion control algorithms for robot fish. We present modeling, control design, and experimental trajectory tracking results for an experimental planar robotic fish system that is propelled using carangiform-like locomotion. Our model for the fish's propulsion is based on quasi-steady fluid flow. Using this model, we propose gaits for forward and turning trajectories and analyze system response under such control strategies. Our models and predictions are verified by ex...
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Modular control of limb movements during human locomotion
Ivanenko, Yuri P; Cappellini, Germana; Dominici, Nadia; Poppele, Richard E; Lacquaniti, Francesco
2007-01-01
The idea that the CNS may control complex interactions by modular decomposition has received considerable attention. We explored this idea for human locomotion by examining limb kinematics. The coordination of limb segments during human locomotion has been shown to follow a planar law for walking at
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Intralimb and Interlimb Cutaneous Reflexes during Locomotion in the Intact Cat.
Hurteau, Marie-France; Thibaudier, Yann; Dambreville, Charline; Danner, Simon M; Rybak, Ilya A; Frigon, Alain
2018-04-25
When the foot contacts an obstacle during locomotion, cutaneous inputs activate spinal circuits to ensure dynamic balance and forward progression. In quadrupeds, this requires coordinated reflex responses between the four limbs. Here, we investigated the patterns and phasic modulation of cutaneous reflexes in forelimb and hindlimb muscles evoked by inputs from all four limbs. Five female cats were implanted to record muscle activity and to stimulate the superficial peroneal and superficial radial nerves during locomotion. Stimulating these nerves evoked short-, mid-, and longer-latency excitatory and/or inhibitory responses in all four limbs that were phase-dependent. The largest responses were generally observed during the peak activity of the muscle. Cutaneous reflexes during mid-swing were consistent with flexion of the homonymous limb and accompanied by modification of the stance phases of the other three limbs, by coactivating flexors and extensors and/or by delaying push-off. Cutaneous reflexes during mid-stance were consistent with stabilizing the homonymous limb by delaying and then facilitating its push-off and modifying the support phases of the homolateral and diagonal limbs, characterized by coactivating flexors and extensors, reinforcing extensor activity and/or delaying push-off. The shortest latencies of homolateral and diagonal responses were consistent with fast-conducting disynaptic or trisynaptic pathways. Descending homolateral and diagonal pathways from the forelimbs to the hindlimbs had a higher probability of eliciting responses compared with ascending pathways from the hindlimbs to the forelimbs. Thus, in quadrupeds, intralimb and interlimb reflexes activated by cutaneous inputs ensure dynamic coordination of the four limbs, producing a whole-body response. SIGNIFICANCE STATEMENT The skin contains receptors that, when activated, send inputs to spinal circuits, signaling a perturbation. Rapid responses, or reflexes, in muscles of the
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Numerical simulation of human biped locomotion
International Nuclear Information System (INIS)
Ishiguro, Misako; Fujisaki, Masahide
1988-04-01
This report describes the numerical simulation of the motion of human-like robot which is one of the research theme of human acts simulation program (HASP) begun at the Computing Center of JAERI in 1987. The purpose of the theme is to model the human motion using robotics kinematic/kinetic equations and to get the joint angles as the solution. As the first trial, we treat the biped locomotion (walking) which is the most fundamental human motion. We implemented a computer program on FACOM M-780 computer, where the program is originated from the book of M. Vukobratovic in Yugoslavia, and made a graphic program to draw a walking shot sequence. Mainly described here are the mathematical model of the biped locomotion, implementation method of the computer program, input data for basic walking pattern, computed results and its validation, and graphic representation of human walking image. Literature survey on robotics equation and biped locomotion is also included. (author)
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Muscle Coordination and Locomotion in Humans.
Sylos-Labini, Francesca; Zago, Myrka; Guertin, Pierre A; Lacquaniti, Francesco; Ivanenko, Yury P
2017-01-01
Locomotion is a semi-automatic daily task. Several studies show that muscle activity is fairly stereotyped during normal walking. Nevertheless, each human leg contains over 50 muscles and locomotion requires flexibility in order to adapt to different conditions as, for instance, different speeds, gaits, turning, obstacle avoidance, altered gravity levels, etc. Therefore, locomotor control has to deal with a certain level of flexibility and non-linearity. In this review, we describe and discuss different findings dealing with both simplicity and variability of the muscular control, as well as with its maturation during development. Despite complexity and redundancy, muscle activity patterns and spatiotemporal maps of spinal motoneuron output during human locomotion show both stereotypical features as well as functional re-organization. Flexibility and different solutions to adjust motor patterns should be considered when considering new rehabilitation strategies to treat disorders involving deficits in gait. Copyright© Bentham Science Publishers; For any queries, please email at epub@benthamscience.org.
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49 CFR 232.105 - General requirements for locomotives.
2010-10-01
... locomotives. (a) The air brake equipment on a locomotive shall be in safe and suitable condition for service... set pressure at any service application with the brakes control valve in the freight position. If such... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION BRAKE SYSTEM SAFETY STANDARDS FOR FREIGHT AND OTHER NON-PASSENGER...
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Locomotion of Paramecium in patterned environments
Park, Eun-Jik; Eddins, Aja; Kim, Junil; Yang, Sung; Jana, Saikat; Jung, Sunghwan
2011-10-01
Ciliary organisms like Paramecium Multimicronucleatum locomote by synchronized beating of cilia that produce metachronal waves over their body. In their natural environments they navigate through a variety of environments especially surfaces with different topology. We study the effects of wavy surfaces patterned on the PDMS channels on the locomotive abilities of Paramecium by characterizing different quantities like velocity amplitude and wavelength of the trajectories traced. We compare this result with the swimming characteristics in straight channels and draw conclusions about the effects of various patterned surfaces.
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Operating a locomotive on liquid methane fuel
International Nuclear Information System (INIS)
Stolz, J.L.
1992-01-01
This paper reports that several years ago, Burlington Northern Railroad looked into the feasibility of operating a diesel railroad locomotive to also run on compressed natural gas in a dual-fuel mode. Recognizing the large volume of on-board storage required and other limitations of CNG in the application, a program was begun to fuel a locomotive with liquefied natural gas. Because natural gas composition can vary with source and processing, it was considered desirable to use essentially pure liquid methane as the engine fuel. Initial testing results show the locomotive system achieved full diesel-rated power when operating on liquid methane and with equivalent fuel efficiency. Extended testing, including an American Association of Railroad 500-hour durability test, was undertaken to obtain information on engine life, wear rate and lubrication oil life
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Locomotion-learning behavior relationship in Caenorhabditis elegans following γ-ray irradiation
International Nuclear Information System (INIS)
Sakashita, Tetsuya; Hamada, Nobuyuki; Suzuki, Michiyo; Kobayashi, Yasuhiko; Ikeda, Daisuke D.; Yanase, Sumino; Ishii, Naoaki
2008-01-01
Learning impairment following ionizing radiation (IR) exposure is an important potential risk in manned space missions. We previously reported the modulatory effects of IR on salt chemotaxis learning in Caenorhabditis elegans. However, little is known about the effects of IR on the functional relationship in the nervous system. In the present study, we investigated the effects of γ-ray exposure on the relationship between locomotion and salt chemotaxis learning behavior. We found that effects of pre-learning irradiation on locomotion were significantly correlated with the salt chemotaxis learning performance, whereas locomotion was not directly related to chemotaxis to NaCl. On the other hand, locomotion was positively correlated with salt chemotaxis of animals which were irradiated during learning, and the correlation disappeared with increasing doses. These results suggest an indirect relationship between locomotion and salt chemotaxis learning in C. elegans, and that IR inhibits the innate relationship between locomotion and chemotaxis, which is related to salt chemotaxis learning conditioning of C. elegans. (author)
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Spatially Compact Neural Clusters in the Dorsal Striatum Encode Locomotion Relevant Information.
Barbera, Giovanni; Liang, Bo; Zhang, Lifeng; Gerfen, Charles R; Culurciello, Eugenio; Chen, Rong; Li, Yun; Lin, Da-Ting
2016-10-05
An influential striatal model postulates that neural activities in the striatal direct and indirect pathways promote and inhibit movement, respectively. Normal behavior requires coordinated activity in the direct pathway to facilitate intended locomotion and indirect pathway to inhibit unwanted locomotion. In this striatal model, neuronal population activity is assumed to encode locomotion relevant information. Here, we propose a novel encoding mechanism for the dorsal striatum. We identified spatially compact neural clusters in both the direct and indirect pathways. Detailed characterization revealed similar cluster organization between the direct and indirect pathways, and cluster activities from both pathways were correlated with mouse locomotion velocities. Using machine-learning algorithms, cluster activities could be used to decode locomotion relevant behavioral states and locomotion velocity. We propose that neural clusters in the dorsal striatum encode locomotion relevant information and that coordinated activities of direct and indirect pathway neural clusters are required for normal striatal controlled behavior. VIDEO ABSTRACT. Published by Elsevier Inc.
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Energy-based control for a biologically inspired hexapod robot with rolling locomotion
Directory of Open Access Journals (Sweden)
Takuma Nemoto
2015-04-01
Full Text Available This paper presents an approach to control rolling locomotion on the level ground with a biologically inspired hexapod robot. For controlling rolling locomotion, a controller which can compensate energy loss with rolling locomotion of the hexapod robot is designed based on its dynamic model. The dynamic model describes the rolling locomotion which is limited to planar one by an assumption that the hexapod robot does not fall down while rolling and influences due to collision and contact with the ground, and it is applied for computing the mechanical energy of the hexapod robot and a plant for a numerical simulation. The numerical simulation of the rolling locomotion on the level ground verifies the effectiveness of the proposed controller. The simulation results show that the hexapod robot can perform the rolling locomotion with the proposed controller. In conclusion, it is shown that the proposed control approach is effective in achieving the rolling locomotion on the level ground.
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Energy Technology Data Exchange (ETDEWEB)
Park, Paul [Caterpillar Inc., Peoria, IL (United States); Bruestle, Claus [Emitec Inc., Rochester Hill, MI (United States)
2013-07-15
Tier 4 legislation for locomotives, starting in 2015, will require significant reductions in particulate matter and nitrogen oxide tail pipe emissions. To reduce nitrogen oxide emissions of line-haul locomotives at least to the level of Tier 4, Caterpillar has developed an aftertreatment system. Here, for the first time an SCR system was used for diesel locomotive engines with an urea dosing system. (orig.)
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49 CFR 1242.25 - Locomotive servicing facilities (account XX-19-27).
2010-10-01
... 49 Transportation 9 2010-10-01 2010-10-01 false Locomotive servicing facilities (account XX-19-27... Structures § 1242.25 Locomotive servicing facilities (account XX-19-27). Separate common expenses according to distribution of common expenses in the following accounts: Locomotive Fuel (XX-51-67 and XX-52-67...
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Directory of Open Access Journals (Sweden)
Takeshi eKawauchi
2015-10-01
Full Text Available The mammalian brain consists of numerous compartments that are closely connected with each other via neural networks, comprising the basis of higher order brain functions. The highly specialized structure originates from simple pseudostratified neuroepithelium-derived neural progenitors located near the ventricle. A long journey by neurons from the ventricular side is essential for the formation of a sophisticated brain structure, including a mammalian-specific six-layered cerebral cortex. Neuronal migration consists of several contiguous steps, but the locomotion mode comprises a large part of the migration. The locomoting neurons exhibit unique features; a radial glial fiber-dependent migration requiring the endocytic recycling of N-cadherin and a neuron-specific migration mode with dilation/swelling formation that requires the actin and microtubule organization possibly regulated by cyclin-dependent kinase 5 (Cdk5, Dcx, p27kip1, Rac1 and POSH. Here I will introduce the roles of various cellular events, such as cytoskeletal organization, cell adhesion and membrane trafficking, in the regulation of the neuronal migration, with particular focus on the locomotion mode.
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Directory of Open Access Journals (Sweden)
Jun Sun
2018-03-01
Full Text Available Startle-induced locomotion is commonly used in Drosophila research to monitor locomotor reactivity and its progressive decline with age or under various neuropathological conditions. A widely used paradigm is startle-induced negative geotaxis (SING, in which flies entrapped in a narrow column react to a gentle mechanical shock by climbing rapidly upwards. Here we combined in vivo manipulation of neuronal activity and splitGFP reconstitution across cells to search for brain neurons and putative circuits that regulate this behavior. We show that the activity of specific clusters of dopaminergic neurons (DANs afferent to the mushroom bodies (MBs modulates SING, and that DAN-mediated SING regulation requires expression of the DA receptor Dop1R1/Dumb, but not Dop1R2/Damb, in intrinsic MB Kenyon cells (KCs. We confirmed our previous observation that activating the MB α'β', but not αβ, KCs decreased the SING response, and we identified further MB neurons implicated in SING control, including KCs of the γ lobe and two subtypes of MB output neurons (MBONs. We also observed that co-activating the αβ KCs antagonizes α'β' and γ KC-mediated SING modulation, suggesting the existence of subtle regulation mechanisms between the different MB lobes in locomotion control. Overall, this study contributes to an emerging picture of the brain circuits modulating locomotor reactivity in Drosophila that appear both to overlap and differ from those underlying associative learning and memory, sleep/wake state and stress-induced hyperactivity.
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Axial dynamics during locomotion in vertebrates: lesson from the salamander
GOSSARD, JEAN-PIERRE; DUBUC, RÉJEAN; KOLTA, ARLETTE; Cabelguen, Jean-Marie; Ijspeert, Auke; Lamarque, Stéphanie; Ryczko, Dimitri
2010-01-01
Much of what we know about the flexibility of the locomotor networks in vertebrates is derived from studies examining the adaptation of limb movements during stepping in various conditions. However, the body movements play important roles during locomotion: they produce the thrust during undulatory locomotion and they help to increase the stride length during legged locomotion. In this chapter, we review our current knowledge about the flexibility in the neuronal circuits controlling the body...
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LSTM-Based Temperature Prediction for Hot-Axles of Locomotives
Directory of Open Access Journals (Sweden)
Luo Can
2017-01-01
Full Text Available The reliability of locomotives plays a central role for the smooth operation of railway systems. Hot-axle failures are one of the most commonly found problems leading to locomotive accidents. Since the operating status of the locomotive axle bearings can be distinctly reflected by the axle temperatures, online temperature monitoring has become an essential way to detect hot-axle failures. In this work, we explore the feasibility of predict the hot-axle failures by identifying the temperature from predicted nominal values. We propose a data-driven approach based on the Long Short-Term Memory (LSTM network to predict the sensor temperature for axle bearings. The effectiveness of the prediction model was validated with operation data collected from commercial locomotives. With a prediction accuracy is within a few percent, the proposed techniques can be used as a dynamic reference for hot-axle monitoring.
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Dynamic investigation of a locomotive with effect of gear transmissions under tractive conditions
Chen, Zaigang; Zhai, Wanming; Wang, Kaiyun
2017-11-01
Locomotive is used to drag trailers to move or supply the braking forces to slow the running speed of a train. The electromagnetic torque of the motor is always transmitted by the gear transmission system to the wheelset for generation of the tractive or braking forces at the wheel-rail contact interface. Consequently, gear transmission system is significant for power delivery of a locomotive. This paper develops a comprehensive locomotive-track vertical-longitudinal coupled dynamics model with dynamic effect of gear transmissions. This dynamics model enables considering the coupling interactions between the gear transmission motion, the vertical and the longitudinal motions of the vehicle, and the vertical vibration of the track structure. In this study, some complicated dynamic excitations, such as the gear time-varying mesh stiffness, nonlinear gear tooth backlash, the nonlinear wheel-rail normal contact force and creep force, and the rail vertical geometrical irregularity, are considered. Then, the dynamic responses of the locomotive under the tractive conditions are demonstrated by numerical simulations based on the established dynamics model and by experimental test. The developed dynamics model is validated by the good agreement between the experimental and the theoretical results. The calculated results reveal that the gear transmission system has strong dynamic interactions with the wheel-rail contact interface including both the vertical and the longitudinal motions, and it has negligible effect on the vibrations of the bogie frame and carbody.
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Effective Stimulus Parameters for Directed Locomotion in Madagascar Hissing Cockroach Biobot.
Directory of Open Access Journals (Sweden)
Jonathan C Erickson
Full Text Available Swarms of insects instrumented with wireless electronic backpacks have previously been proposed for potential use in search and rescue operations. Before deploying such biobot swarms, an effective long-term neural-electric stimulus interface must be established, and the locomotion response to various stimuli quantified. To this end, we studied a variety of pulse types (mono- vs. bipolar; voltage- vs. current-controlled and shapes (amplitude, frequency, duration to parameters that are most effective for evoking locomotion along a desired path in the Madagascar hissing cockroach (G. portentosa in response to antennal and cercal stimulation. We identified bipolar, 2 V, 50 Hz, 0.5 s voltage controlled pulses as being optimal for evoking forward motion and turns in the expected contraversive direction without habituation in ≈50% of test subjects, a substantial increase over ≈10% success rates previously reported. Larger amplitudes for voltage (1-4 V and current (50-150 μA pulses generally evoked larger forward walking (15.6-25.6 cm; 3.9-5.6 cm/s but smaller concomitant turning responses (149 to 80.0 deg; 62.8 to 41.2 deg/s. Thus, the radius of curvature of the initial turn-then-run locomotor response (≈10-25 cm could be controlled in a graded manner by varying the stimulus amplitude. These findings could be used to help optimize stimulus protocols for swarms of cockroach biobots navigating unknown terrain.
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49 CFR 223.17 - Identification of equipped locomotives, passenger cars and cabooses.
2010-10-01
... cars and cabooses. 223.17 Section 223.17 Transportation Other Regulations Relating to Transportation...-LOCOMOTIVES, PASSENGER CARS AND CABOOSES Specific Requirements § 223.17 Identification of equipped locomotives, passenger cars and cabooses. Each locomotive, passenger car and caboose that is fully equipped with glazing...
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49 CFR 236.1006 - Equipping locomotives operating in PTC territory.
2010-10-01
... 31, 2015, a train controlled by a locomotive with an onboard PTC apparatus that has failed en route... III railroad, including a tourist or excursion railroad, and controlled by a locomotive not equipped...
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So, Hongyun; Pisano, Albert P.; Seo, Young Ho
2014-01-01
This paper presents a microfluidic pump operated by an asymmetrically deformed membrane, which was inspired by caterpillar locomotion. Almost all mechanical micropumps consist of two major components of fluid halting and fluid pushing parts, whereas the proposed caterpillar locomotion-inspired micropump has only a single, bilaterally symmetric membrane-like teardrop shape. A teardrop-shaped elastomeric membrane was asymmetrically deformed and then consecutively touched down to the bottom of the chamber in response to pneumatic pressure, thus achieving fluid pushing. Consecutive touchdown motions of the teardrop-shaped membrane mimicked the propagation of a caterpillar's hump during its locomotory gait. The initial touchdown motion of the teardrop-shaped membrane at the centroid worked as a valve that blocked the inlet channel, and then, the consecutive touchdown motions pushed fluid in the chamber toward the tail of the chamber connected to the outlet channel. The propagation of the touchdown motion of the teardrop-shaped membrane was investigated using computational analysis as well as experimental studies. This caterpillar locomotion-inspired micropump composed of only a single membrane can provide new opportunities for simple integration of microfluidic systems. © the Partner Organisations 2014.
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So, Hongyun
2014-01-01
This paper presents a microfluidic pump operated by an asymmetrically deformed membrane, which was inspired by caterpillar locomotion. Almost all mechanical micropumps consist of two major components of fluid halting and fluid pushing parts, whereas the proposed caterpillar locomotion-inspired micropump has only a single, bilaterally symmetric membrane-like teardrop shape. A teardrop-shaped elastomeric membrane was asymmetrically deformed and then consecutively touched down to the bottom of the chamber in response to pneumatic pressure, thus achieving fluid pushing. Consecutive touchdown motions of the teardrop-shaped membrane mimicked the propagation of a caterpillar\\'s hump during its locomotory gait. The initial touchdown motion of the teardrop-shaped membrane at the centroid worked as a valve that blocked the inlet channel, and then, the consecutive touchdown motions pushed fluid in the chamber toward the tail of the chamber connected to the outlet channel. The propagation of the touchdown motion of the teardrop-shaped membrane was investigated using computational analysis as well as experimental studies. This caterpillar locomotion-inspired micropump composed of only a single membrane can provide new opportunities for simple integration of microfluidic systems. © the Partner Organisations 2014.
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Locomotion of inchworm-inspired robot made of smart soft composite (SSC)
International Nuclear Information System (INIS)
Wang, Wei; Lee, Jang-Yeob; Rodrigue, Hugo; Song, Sung-Hyuk; Ahn, Sung-Hoon; Chu, Won-Shik
2014-01-01
A soft-bodied robot made of smart soft composite with inchworm-inspired locomotion capable of both two-way linear and turning movement has been proposed, developed, and tested. The robot was divided into three functional parts based on the different functions of the inchworm: the body, the back foot, and the front foot. Shape memory alloy wires were embedded longitudinally in a soft polymer to imitate the longitudinal muscle fibers that control the abdominal contractions of the inchworm during locomotion. Each foot of the robot has three segments with different friction coefficients to implement the anchor and sliding movement. Then, utilizing actuation patterns between the body and feet based on the looping gait, the robot achieves a biomimetic inchworm gait. Experiments were conducted to evaluate the robot’s locomotive performance for both linear locomotion and turning movement. Results show that the proposed robot’s stride length was nearly one third of its body length, with a maximum linear speed of 3.6 mm s −1 , a linear locomotion efficiency of 96.4%, a maximum turning capability of 4.3 degrees per stride, and a turning locomotion efficiency of 39.7%. (paper)
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Bahm, Isabel; Barriga, Elias H; Frolov, Antonina; Theveneau, Eric; Frankel, Paul; Mayor, Roberto
2017-07-01
A fundamental property of neural crest (NC) migration is contact inhibition of locomotion (CIL), a process by which cells change their direction of migration upon cell contact. CIL has been proven to be essential for NC migration in amphibians and zebrafish by controlling cell polarity in a cell contact-dependent manner. Cell contact during CIL requires the participation of the cell adhesion molecule N-cadherin, which starts to be expressed by NC cells as a consequence of the switch between E- and N-cadherins during epithelial-to-mesenchymal transition (EMT). However, the mechanism that controls the upregulation of N-cadherin remains unknown. Here, we show that platelet-derived growth factor receptor alpha (PDGFRα) and its ligand platelet-derived growth factor A (PDGF-A) are co-expressed in migrating cranial NC. Inhibition of PDGF-A/PDGFRα blocks NC migration by inhibiting N-cadherin and, consequently, impairing CIL. Moreover, we identify phosphatidylinositol-3-kinase (PI3K)/AKT as a downstream effector of the PDGFRα cellular response during CIL. Our results lead us to propose PDGF-A/PDGFRα signalling as a tissue-autonomous regulator of CIL by controlling N-cadherin upregulation during EMT. Finally, we show that once NC cells have undergone EMT, the same PDGF-A/PDGFRα works as an NC chemoattractant, guiding their directional migration. © 2017. Published by The Company of Biologists Ltd.
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Locomotive emissions measurements for various blends of biodiesel fuel.
2014-12-01
The objective of this project was to assess the effects of various blends of biodiesel on locomotive engine exhaust emissions. The : emission tests were conducted on two locomotive models, a Tier 2 EMD SD70ACe and a Tier 1 Plus GE Dash9-44CW, using t...
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[The concept and definition of locomotive syndrome in a super-aged society].
Nakamura, Kozo; Yoshimura, Noriko; Akune, Toru; Ogata, Toru; Tanaka, Sakae
2014-10-01
The population of elderly individuals who need nursing care is rapidly increasing in Japan. Locomotive syndrome involves a decrease in mobility due to locomotive organ dysfunction, and increases risk for dependency on nursing care service. Because gait speed and chair stand time are correlated with such risks, patients with locomotive syndrome are assessed using brief methods such as the two-step test, which involves dividing the maximum stride length by the height of the patient, and the stand-up test, which involves standing on one or both legs at different heights. One leg standing and squatting are recommended as beneficial locomotive home exercises. Locomotive syndrome has been recognized widely in Japan, and included in the National Health Promotion Movement (2013-2022).
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Passive appendages aid locomotion through symmetry breaking
Bagheri, Shervin; Lacis, Ugis; Mazzino, Andrea; Kellay, Hamid; Brosse, Nicolas; Lundell, Fredrik; Ingremeau, Francois
2014-11-01
Plants and animals use plumes, barbs, tails, feathers, hairs, fins, and other types of appendages to aid locomotion. Despite their enormous variation, passive appendages may contribute to locomotion by exploiting the same physical mechanism. We present a new mechanism that applies to body appendages surrounded by a separated flow, which often develops behind moving bodies larger than a few millimeters. We use theory, experiments, and numerical simulations to show that bodies with protrusions turn and drift by exploiting a symmetry-breaking instability similar to the instability of an inverted pendulum. Our model explains why the straight position of an appendage in flowing fluid is unstable and how it stabilizes either to the left or right of the incoming fluid flow direction. The discovery suggests a new mechanism of locomotion that may be relevant for certain organisms; for example, how plumed seeds may drift without wind and how motile animals may passively reorient themselves.
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Exotendons for assistance of human locomotion
Directory of Open Access Journals (Sweden)
van den Bogert Antonie J
2003-10-01
Full Text Available Abstract Background Powered robotic exoskeletons for assistance of human locomotion are currently under development for military and medical applications. The energy requirements for such devices are excessive, and this has become a major obstacle for practical applications. Legged locomotion in many animals, however, is very energy efficient. We propose that poly-articular elastic mechanisms are a major contributor to the economy of locomotion in such specialized animals. Consequently, it should be possible to design unpowered assistive devices that make effective use of similar mechanisms. Methods A passive assistive technology is presented, based on long elastic cords attached to an exoskeleton and guided by pulleys placed at the joints. A general optimization procedure is described for finding the best geometrical arrangement of such "exotendons" for assisting a specific movement. Optimality is defined either as minimal residual joint moment or as minimal residual joint power. Four specific exotendon systems with increasing complexity are considered. Representative human gait data were used to optimize each of these four systems to achieve maximal assistance for normal walking. Results The most complex exotendon system, with twelve pulleys per limb, was able to reduce the joint moments required for normal walking by 71% and joint power by 74%. A simpler system, with only three pulleys per limb, could reduce joint moments by 46% and joint power by 47%. Conclusion It is concluded that unpowered passive elastic devices can substantially reduce the muscle forces and the metabolic energy needed for walking, without requiring a change in movement. When optimally designed, such devices may allow independent locomotion in patients with large deficits in muscle function.
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49 CFR 229.9 - Movement of non-complying locomotives.
2010-10-01
... 49 Transportation 4 2010-10-01 2010-10-01 false Movement of non-complying locomotives. 229.9... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD LOCOMOTIVE SAFETY STANDARDS General § 229.9 Movement of non... restrictions necessary for safely conducting the movement; (2)(i) The engineer in charge of the movement of the...
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Human Locomotion in Hypogravity: From Basic Research to Clinical Applications
Directory of Open Access Journals (Sweden)
Francesco Lacquaniti
2017-11-01
Full Text Available We have considerable knowledge about the mechanisms underlying compensation of Earth gravity during locomotion, a knowledge obtained from physiological, biomechanical, modeling, developmental, comparative, and paleoanthropological studies. By contrast, we know much less about locomotion and movement in general under sustained hypogravity. This lack of information poses a serious problem for human space exploration. In a near future humans will walk again on the Moon and for the first time on Mars. It would be important to predict how they will move around, since we know that locomotion and mobility in general may be jeopardized in hypogravity, especially when landing after a prolonged weightlessness of the space flight. The combination of muscle weakness, of wearing a cumbersome spacesuit, and of maladaptive patterns of locomotion in hypogravity significantly increase the risk of falls and injuries. Much of what we currently know about locomotion in hypogravity derives from the video archives of the Apollo missions on the Moon, the experiments performed with parabolic flight or with body weight support on Earth, and the theoretical models. These are the topics of our review, along with the issue of the application of simulated hypogravity in rehabilitation to help patients with deambulation problems. We consider several issues that are common to the field of space science and clinical rehabilitation: the general principles governing locomotion in hypogravity, the methods used to reduce gravity effects on locomotion, the extent to which the resulting behavior is comparable across different methods, the important non-linearities of several locomotor parameters as a function of the gravity reduction, the need to use multiple methods to obtain reliable results, and the need to tailor the methods individually based on the physiology and medical history of each person.
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Human Locomotion in Hypogravity: From Basic Research to Clinical Applications.
Lacquaniti, Francesco; Ivanenko, Yury P; Sylos-Labini, Francesca; La Scaleia, Valentina; La Scaleia, Barbara; Willems, Patrick A; Zago, Myrka
2017-01-01
We have considerable knowledge about the mechanisms underlying compensation of Earth gravity during locomotion, a knowledge obtained from physiological, biomechanical, modeling, developmental, comparative, and paleoanthropological studies. By contrast, we know much less about locomotion and movement in general under sustained hypogravity. This lack of information poses a serious problem for human space exploration. In a near future humans will walk again on the Moon and for the first time on Mars. It would be important to predict how they will move around, since we know that locomotion and mobility in general may be jeopardized in hypogravity, especially when landing after a prolonged weightlessness of the space flight. The combination of muscle weakness, of wearing a cumbersome spacesuit, and of maladaptive patterns of locomotion in hypogravity significantly increase the risk of falls and injuries. Much of what we currently know about locomotion in hypogravity derives from the video archives of the Apollo missions on the Moon, the experiments performed with parabolic flight or with body weight support on Earth, and the theoretical models. These are the topics of our review, along with the issue of the application of simulated hypogravity in rehabilitation to help patients with deambulation problems. We consider several issues that are common to the field of space science and clinical rehabilitation: the general principles governing locomotion in hypogravity, the methods used to reduce gravity effects on locomotion, the extent to which the resulting behavior is comparable across different methods, the important non-linearities of several locomotor parameters as a function of the gravity reduction, the need to use multiple methods to obtain reliable results, and the need to tailor the methods individually based on the physiology and medical history of each person.
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SELECTION OF RATIONAL PARAMETERS OF THE NOMINAL MODE OF ELECTRIC LOCOMOTIVES
Directory of Open Access Journals (Sweden)
H. K. Hetman
2017-02-01
Full Text Available Purpose.The railways of Ukraine have been operated the locomotives, which are both morally and physically obsolete. Therefore, to ensure the competitiveness of rail transport it is necessary to update the locomotive fleet, and first of all the fleet of electric locomotives, because electrified railways provide the greater part of passenger and freight traffic. In this connection it is of special importance to determine the optimum parameters of the nominal mode of electric rolling stock. The purpose of the work is to examine the features of solution of these problems with respect to electric locomotives. Methodology. Assuming that the limit values of traction force are determined by the conditions of wheel-rail grip, then the power of the nominal mode can be represented as the product of rated speed, estimated friction coefficient, train weight and the coefficients that represent the ratio of the estimated (starting value of traction force to value of traction force the nominal mode and the ratio of the mass of the locomotive to the train weight. Since the mass of the train is not a constant value, there is always a surplus power of the locomotive fleet required for the mastering of a predetermined volume of transportations. Reduced overcapacity of the locomotive fleet can be achieved by introduction of the locomotives of different power, designed for driving trains of different weight that will result in increased completeness of the power use but also in difficulty in selecting of locomotives for trains in operation. The paper shows the method of calculating the optimum values of power, speed and traction force of the nominal mode. It presents the mathematical model of the relationship of traction rate, excessive capacity and power of the traction unit. Findings.It is proved that the power of the traction unit, the total fleet power requirement and the excess of power in absolute units are proportional to the speed of the nominal mode. To
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Akahane, Manabu; Yoshihara, Shingo; Maeyashiki, Akie; Tanaka, Yasuhito; Imamura, Tomoaki
2017-10-18
The Japanese Orthopedic Association first proposed the concept of "locomotive syndrome" in 2007. It refers to circumstances in which elderly people need nursing care services or are at high risk of requiring such services within a short time. Recently, the public health burden of providing nursing care for elderly individuals has increased. Therefore, locomotive syndrome, and the means of preventing it, are a major public health focus in Japan. The purpose of this study was to investigate the relationships of lifestyle factors, such as smoking, alcohol consumption, sleep duration, and dental health, with locomotive syndrome. We conducted a cross-sectional study using an internet panel survey. The participants comprised 747 individuals aged 30-90 years. Factors related to demographics (age, sex), general health (number of teeth, presence of periodontal disease), and lifestyle (smoking, alcohol consumption, sleep duration) were assessed. We also used the 25-question Geriatric Locomotive Function Scale to determine whether each participant had locomotive syndrome. Multivariate analysis was conducted using logistic regression to investigate the independent relationships between locomotive syndrome and lifestyle factors after adjusting for sex and age. A greater proportion of women (17.7%) than men (11.2%) had locomotive syndrome (p syndrome compared with those aged syndrome, whereas sleep duration was not. The frequency of alcohol consumption, except for daily drinking, was also associated with locomotive syndrome. Our study indicates that lifestyle factors, such as smoking and number of existing teeth, may partly affect the prevalence of locomotive syndrome. Hence, lifestyle modifications, such as improving oral hygiene and promoting cessation of smoking, are important means to reduce the risk of locomotive syndrome and should be promoted by public health staff.
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ANALYSIS OF THE OPERATIONAL CHARACTERISTICS OF DIESEL-ELECTRIC LOCOMOTIVES
Directory of Open Access Journals (Sweden)
L. V. Ursulyak
2014-12-01
Full Text Available Purpose. To compare the operational characteristics of freight diesel-electric locomotives ER20CF and 2М62м, which are operated with Lithuanian Railways. Important problems on traction calculations are considered in this article. In this article the critical tasks of traction calculations are solved. It is the main computational tool in the rational functioning, planning and development of railways: determination of the estimated weight of the rolling stock, the diagrams construction of specific resultant forces of a train, the permitted speed definition of the train on the slopes, curves of train traffic construction on the section. Methodology. Using the rules and methods of traction calculations the analysis of the basic operational characteristics of the modernized freight diesel-electric locomotive 2М62m and freight passenger dual locomotive 2ER20CF was held. The maximum weight of the train set, the track structure on a high-speed ascent through the use of kinetic energy (with traction and without traction, technical speed, acceleration force and the value of the smallest radius curve are selected as controlled parameters. During the calculations it was considered that the trains were formed of a fully loaded four-axle gondola cars, model 112-119 (feature-606 with axle load of 23.5 t; the motion was carried out on the continuous welded rail track; the front of the train set is a dual locomotive 2ER20CF or two locomotive 2М62м. Longitudinal profile of the road on the route Vilnus–KlF was analyzed for the choice of theoretical rise. Inspection concerning the possibility of overcoming the high-speed rise was performed with an analytical method, based on the use of the kinetic energy accumulated by the overcoming of «light» elements of the profile. Findings. In the calculations, the maximum weight of the train set taking into account theoretical rise was analyzed. The inspection of the theoretical weight of the train set on a reliable
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A survey report for the turning of biped locomotion robot
International Nuclear Information System (INIS)
Kato, Ichiro; Takanishi, Atsuo; Kume, Etsuo.
1992-12-01
A mechanical design study of biped locomotion robots is going on at JAERI within the scope of the Human Acts Simulation Program (HASP). The design study at JAERI is of an arbitrarily mobile robot for inspection of nuclear facilities. A survey has been performed for collecting useful information from already existing biped locomotion robots. This is a survey report for the turning of biped locomotion robot: the WL-10R designed and developed at Waseda University. This report includes the control method of turning, machine model and control system. (author)
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Zhang, Shun; Guy, Robert; Del Alamo, Juan Carlos
2017-11-01
Physarum polycephalum is a multinucleated slime mold whose endoplasm flows periodically driven by the contraction of its ectoplasm, a dense shell of F-actin cross-linked by myosin molecular motors and attached to the cell membrane. We find that physarum fragments smaller than 100 microns remain round and stay in place. However, larger fragments break symmetry leading to sustained forward locomotion, in process that is reminiscent of an interfacial instability that seems to settle around two different limit cycles (traveling waves and standing waves). We use both theory and experiments to study how coordination emerges between the different mechanical and chemical subsystems of the fragment to initiate locomotion. The role of many involved factors, such as fragment size, substratum adhesiveness, rheological properties, actin polymerization and traction stresses are investigated, and we find they agree well with our predictive model.
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The G6. A heavy-duty, six-wheeled shunting locomotive
Energy Technology Data Exchange (ETDEWEB)
Hildebrandt, Tim [Vossloh Locomotives GmbH, Kiel (Germany). Development and Standardisation Group
2010-05-15
Nowadays, railway operating companies need robust, reliable and versatile locomotives. Vossloh has shown one way that future developments are likely to go with its 'G6' six-wheeled shunting locomotive, which features a central driver's cab. (orig.)
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Animal Locomotion in Different Mediums
Indian Academy of Sciences (India)
IAS Admin
examine only self-powered animal locomotion. ... At different phases of their life cycle both animals and plants are highly mobile but their ... wind driven transport (Figure C). ..... fins which serve the function of rudimentary limbs, particularly.
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THE DYNAMICS AND TRACTION ENERGY METRICS LOCOMOTIVE VL40
Directory of Open Access Journals (Sweden)
S. V. Pylypenko
2008-03-01
Full Text Available In the article the results of dynamic running and traction-energy tests of the electric locomotive VL40U are presented. In accordance with the test results a conclusion about the suitability of electric locomotive of such a type for operation with trains containing up to 15 passenger coaches inclusive is made.
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49 CFR 231.15 - Steam locomotives used in road service.
2010-10-01
... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotives used in road service. 231.15 Section 231.15 Transportation Other Regulations Relating to Transportation (Continued) FEDERAL RAILROAD ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD SAFETY APPLIANCE STANDARDS § 231.15 Steam locomotives used...
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SIMULATION OF DRIVER’S LOCOMOTIVE-HANDLING ACTIVITY USING THE THEORY OF FUZZY GRAPHS
Directory of Open Access Journals (Sweden)
T. V. Butko
2015-03-01
Full Text Available Purpose. The efficiency and safety of locomotive control improving is important and relevant scientific and practical problem. Every driver during the trains-handling bases on his experience and knowledge, that is why the compilation and detection the most efficient ways to control the locomotive-handling is one of the stages of measures development to reduce transportation costs. The purpose of this paper is a formalization process description of locomotive-handling and quality parameters determination of this process. Methodology. In order to achieve this goal the theory of fuzzy probabilistic graphs was used. Vertices of the graph correspond to the events start and end operations at train-handling. The graph arcs describe operations on train-handling. Graph consists of thirteen peaks corresponding to the main control actions of the engine-driver. The weighting factors of transitions between vertices are assigned by fuzzy numbers. Their values were obtained by expert estimates. Fuzzy probabilities and transition time are presented as numbers with trapezoidal membership function. Findings. Using successive merging of parallel arcs, loops and vertices elimination, the equivalent fuzzy graph of train-handling and the corresponding L-matrix were obtained. Equivalent graph takes into account separately activity of the driver during normal operation and during emergency situations. Originality. The theoretical foundations of describing process formalization in driver’s locomotive-handling activity were developed using the fuzzy probabilistic graph. The parameters characterizing the decision-making process of engineer were obtained. Practical value. With the resulting model it is possible to estimate the available reserves for the quality improvement of locomotive-handling. Reduction in the time for decision-making will lead to the approximation the current mode of control to the rational one and decrease costs of hauling operations. And reduction
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Experiments on vibration-driven stick-slip locomotion: A sliding bifurcation perspective
Du, Zhouwei; Fang, Hongbin; Zhan, Xiong; Xu, Jian
2018-05-01
Dry friction appears at the contact interface between two surfaces and is the source of stick-slip vibrations. Instead of being a negative factor, dry friction is essential for vibration-driven locomotion system to take effect. However, the dry-friction-induced stick-slip locomotion has not been fully understood in previous research, especially in terms of experiments. In this paper, we experimentally study the stick-slip dynamics of a vibration-driven locomotion system from a sliding bifurcation perspective. To this end, we first design and build a vibration-driven locomotion prototype based on an internal piezoelectric cantilever. By utilizing the mechanical resonance, the small piezoelectric deformation is significantly amplified to drive the prototype to achieve effective locomotion. Through identifying the stick-slip characteristics in velocity histories, we could categorize the system's locomotion into four types and obtain a stick-slip categorization diagram. In each zone of the diagram the locomotion exhibits qualitatively different stick-slip dynamics. Such categorization diagram is actually a sliding bifurcation diagram; crossing from one stick-slip zone to another corresponds to the triggering of a sliding bifurcation. In addition, a simplified single degree-of-freedom model is established, with the rationality of simplification been explained theoretically and numerically. Based on the equivalent model, a numerical stick-slip categorization is also obtained, which shows good agreement with the experiments both qualitatively and quantitatively. To the best of our knowledge, this is the first work that experimentally generates a sliding bifurcation diagram. The obtained stick-slip categorizations deepen our understanding of stick-slip dynamics in vibration-driven systems and could serve as a base for system design and optimization.
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Mulavara, Ajitkumar; Ruttley, Tara; Cohen, Helen; Peters, Brian; Miller, Chris; Brady, Rachel; Merkle, Lauren; Bloomberg, Jacob
2010-01-01
Exposure to the microgravity conditions of space flight induces adaptive modification in the control of vestibular-mediated reflexive head movement during locomotion after space flight. Space flight causes astronauts to be exposed to somatosensory adaptation in both the vestibular and body load-sensing (BLS) systems. The goal of these studies was to examine the contributions of vestibular and BLS-mediated somatosensory influences on head movement control during locomotion after long-duration space flight. Subjects were asked to walk on a treadmill driven at 1.8 m/s while performing a visual acuity task. Data were collected using the same testing protocol from three independent subject groups; 1) normal subjects before and after exposure to 30 minutes of 40% bodyweight unloaded treadmill walking, 2) bilateral labyrinthine deficient (LD) patients and 3) astronauts who performed the protocol before and after long duration space flight. Motion data from head and trunk segmental motion data were obtained to calculate the angular head pitch (HP) movements during walking trials while subjects performed the visual task, to estimate the contributions of vestibular reflexive mechanisms in HP movements. Results showed that exposure to unloaded locomotion caused a significant increase in HP movements, whereas in the LD patients the HP movements were significantly decreased. Astronaut subjects results showed a heterogeneous response of both increases and decreases in the amplitude of HP movement. We infer that BLS-mediated somatosensory input centrally modulates vestibular input and can adaptively modify head-movement control during locomotion. Thus, space flight may cause a central adaptation mediated by the converging vestibular and body load-sensing somatosensory systems.
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Rolling towards a cleaner future: the development of Canadian locomotive emissions regulations
International Nuclear Information System (INIS)
2010-12-01
In 2006, the Government of Canada published a notice of intent that it would develop regulations aimed at reducing anthropogenic criteria air contaminants and greenhouse gas emissions. The Government now intends to develop railway emissions regulations for criteria air contaminants under the Railway Safety Act. The Railway Safety Act not only provides the legislative basis for developing regulations governing railways, it also gives the authority for developing the rules governing federally regulated railroads to the Minister of Transport. For the future, Transport Canada will be responsible for developing regulations governing the rail sector. The transportation sector is a substantial emitter of criteria air contaminants, so rail transportation is a key element of the current work. This paper seeks to give a framework for consultations with stakeholders and facilitate dialogue. It collects feedback from stakeholders on the design of a Canadian regulatory regime for locomotive-generated criteria air contaminant emissions. Canadian railways have managed locomotive air contaminant emissions since 1995.
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Modeling limbless locomotion using ADAMS software
National Aeronautics and Space Administration — Until now, the methods used by probes or humans for locomotion on planetary surfaces have typically been restricted to variations of wheeled motion. As human...
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Directory of Open Access Journals (Sweden)
Costas Boletsis
2017-09-01
Full Text Available The latest technical and interaction advancements that took place in the Virtual Reality (VR field have marked a new era, not only for VR, but also for VR locomotion. Although the latest advancements in VR locomotion have raised the interest of both researchers and users in analyzing and experiencing current VR locomotion techniques, the field of research on VR locomotion, in its new era, is still uncharted. In this work, VR locomotion is explored through a systematic literature review investigating empirical studies of VR locomotion techniques from 2014–2017. The review analyzes the VR locomotion techniques that have been studied, their interaction-related characteristics and the research topics that were addressed in these studies. Thirty-six articles were identified as relevant to the literature review, and the analysis of the articles resulted in 73 instances of 11 VR locomotion techniques, such as real-walking, walking-in-place, point and teleport, joystick-based locomotion, and more. Results showed that since the VR revival, the focus of VR locomotion research has been on VR technology and various technological aspects, overshadowing the investigation of user experience. From an interaction perspective, the majority of the utilized and studied VR locomotion techniques were found to be based on physical interaction, exploiting physical motion cues for navigation in VR environments. A significant contribution of the literature review lies in the proposed typology for VR locomotion, introducing four distinct VR locomotion types: motion-based, room scale-based, controller-based and teleportation-based locomotion.
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ENERGY EFFICIENCY OF DIESEL LOCOMOTIVE HYDRAULIC TRANSMISSION TESTS AT LOCOMOTIVE REPAIR PLANT
Directory of Open Access Journals (Sweden)
B. E. Bodnar
2015-10-01
Full Text Available Purpose. In difficult economic conditions, cost reduction of electricity consumption for the needs of production is an urgent task for the country’s industrial enterprises. Technical specifications of enterprises, which repair diesel locomotive hydraulic transmission, recommend conducting a certain amount of evaluation and regulatory tests to monitor their condition after repair. Experience shows that a significant portion of hydraulic transmission defects is revealed by bench tests. The advantages of bench tests include the ability to detect defects after repair, ease of maintenance of the hydraulic transmission and relatively low labour intensity for eliminating defects. The quality of these tests results in the transmission resource and its efficiency. Improvement of the technology of plant post-repairs hydraulic tests in order to reduce electricity consumption while testing. Methodology. The possible options for hydraulic transmission test bench improvement were analysed. There was proposed an energy efficiency method for diesel locomotive hydraulic transmission testing in locomotive repair plant environment. This is achieved by installing additional drive motor which receives power from the load generator. Findings. Based on the conducted analysis the necessity of improving the plant stand testing of hydraulic transmission was proved. The variants of the stand modernization were examined. The test stand modernization analysis was conducted. Originality. The possibility of using electric power load generator to power the stand electric drive motor or the additional drive motor was theoretically substantiated. Practical value. A variant of hydraulic transmission test stand based on the mutual load method was proposed. Using this method increases the hydraulic transmission load range and power consumption by stand remains unchanged. The additional drive motor will increase the speed of the input shaft that in its turn wil allow testing in
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DEFINITION OF LOCOMOTIVE TRACTION FORCE WITH REGARD TO UNEVEN LOADING OF WHEEL-MOTOR BLOCK
Directory of Open Access Journals (Sweden)
B. Ye. Bodnar
2013-11-01
Full Text Available Purpose. The article describes the most common methods for determining the locomotive traction force. Solving the tasks of traction calculations involves determination of the forces influencing the train at every point of the way. When choosing a rational trajectory of the train motion and the development of operational regulations of train driving it is necessary to determine the actual value of the locomotive traction force. Considering various factors, power value of traction electric motor of locomotive may have significant differences. Advancement of the operational definition system of the locomotive traction force during the calculations by electrical parameters of traction electric motor with regard to uneven load of wheel-motor block is the purpose of the article. Methodology. The method of determining the traction force of locomotives and diesel locomotives with electric transmission, which is based on primary data acquisition of traction electric engines of direct current behavior, was proposed. Sensors and their integration into the electrical circuitry of the locomotive in order to get the data in digital form and for operational calculation of the each traction motor mode and the definition of locomotive traction force are presented. Findings. The experimental investigation of the system of locomotive traction force determination with the electric traction motor ED-105 was offered. A comparison of electrical and mechanical power of the electric motor was conducted. Originality. The system of locomotives power operational definition, which takes into account the variable electro-mechanical factors of wheel and motor blocks and increases the accuracy of the calculations, was proposed. Practical value. The system is a part of an onboard complex in definition of energy-efficient regimes for trains movement and provides the definition of accelerating and decelerating forces.
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On the rules for aquatic locomotion
Saadat, M.; Fish, F. E.; Domel, A. G.; Di Santo, V.; Lauder, G. V.; Haj-Hariri, H.
2017-08-01
We present unifying rules governing the efficient locomotion of swimming fish and marine mammals. Using scaling and dimensional analysis, supported by new experimental data, we show that efficient locomotion occurs when the values of the Strouhal (St) number St (=f A /U ) and A*(=A /L ) , two nondimensional numbers that relate forward speed U , tail-beat amplitude A , tail-beat frequency f , and the length of the swimmer L are bound to the tight ranges of 0.2-0.4 and 0.1-0.3, respectively. The tight range of 0.2-0.4 for the St number has previously been associated with optimal thrust generation. We show that the St number alone is insufficient to achieve optimal aquatic locomotion, and an additional condition on A* is needed. More importantly, we show that when swimming at minimal power consumption, the Strouhal number of a cruising swimmer is predetermined solely by the shape and drag characteristics of the swimmer. We show that diverse species of fish and cetaceans cruise indeed with the St number and A* predicted by our theory. Our findings provide a physical explanation as to why fast aquatic swimmers cruise with a relatively constant tail-beat amplitude of approximately 20% of the body length, and their swimming speed is nearly proportional to their tail-beat frequency.
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49 CFR 210.29 - Operation standards (moving locomotives and rail cars).
2010-10-01
... cars). 210.29 Section 210.29 Transportation Other Regulations Relating to Transportation (Continued... REGULATIONS Inspection and Testing § 210.29 Operation standards (moving locomotives and rail cars). The operation standards for the noise emission levels of moving locomotives, rail cars, or consists of...
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Baev, K V; Esipenko, V B; Shimansky YuP
1991-01-01
Changes in the motor activity of the spinal locomotor generator evoked by tonic and phasic peripheral afferent signals during fictitious locomotion of both slow and fast rhythms were analysed in the cat. The tonic afferent inflow was conditioned by the position of the hindlimb. The phasic afferent signals were imitated by electrical stimulation of hindlimb nerves. The correlation between the kinematics of hindlimb locomotor movement and sensory inflow was investigated during actual locomotion. Reliable correlations between motor activity parameters during fictitious locomotion were revealed in cases of both slow and fast "locomotor" rhythms. The main difference between these cases was that correlations "duration-intensity" were positive in the first and negative in the second case. The functional role of "locomotor" pattern dependence on tonic sensory inflow consisted of providing stability for planting the hindlimb on the ground. For any investigated afferent input the phase moments in the "locomotor" cycle were found, in which an afferent signal caused no rearrangement in locomotor generator activity. These moments corresponded to the transitions between "flexion" and "extension" phases and to the bursts of integral afferent activity observed during real locomotion. The data obtained are compared with the results previously described for the scratching generator. The character of changes in "locomotor" activity in response to tonic and phasic sensory signals was similar to that of such changes in "scratching" rhythm in the case of fast "locomotion". Intensification of the "flexion" phase caused by phasic high-intensity stimulation of cutaneous afferents during low "locomotor" rhythm was changed to inhibition (such as observed during "scratching") when this rhythm was fast. It is concluded that the main regularities of peripheral afferent control for both the locomotor and scratching generators are the same. Moreover, these central pattern generators are just
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Locomotion of Mexican jumping beans
International Nuclear Information System (INIS)
West, Daniel M; K Lal, Ishan; Leamy, Michael J; Hu, David L
2012-01-01
The Mexican jumping bean, Laspeyresia saltitans, consists of a hollow seed housing a moth larva. Heating by the sun induces movements by the larva which appear as rolls, jumps and flips by the bean. In this combined experimental, numerical and robotic study, we investigate this unique means of rolling locomotion. Time-lapse videography is used to record bean trajectories across a series of terrain types, including one-dimensional channels and planar surfaces of varying inclination. We find that the shell encumbers the larva's locomotion, decreasing its speed on flat surfaces by threefold. We also observe that the two-dimensional search algorithm of the bean resembles the run-and-tumble search of bacteria. We test this search algorithm using both an agent-based simulation and a wheeled Scribbler robot. The algorithm succeeds in propelling the robot away from regions of high temperature and may have application in biomimetic micro-scale navigation systems. (paper)
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PROSPECTS OF THE PRIVATE LOCOMOTIVES USAGE FOR GOODS TRAFFIC IN THE DIRECTION OF SEA PORTS
Directory of Open Access Journals (Sweden)
D. M. Kozachenko
2017-12-01
Full Text Available Purpose. At the present time, Ukraine's mainline railway transport is entirely in state ownership. Ukraine has undertaken to implement the European Union Directives providing of non-discriminatory access to the railway infrastructure of independent carriers. A considerable quantity of options significantly affects the working conditions of carriers that do not depend on Ukrzaliznytsia. One of the tasks that arises when performing transportation by independent carriers is the organization of private locomotives operation and their servicing by engine crews. The purpose of the article is to evaluate the technical characteristic of the private locomotives usage in order to perform goods traffic in the direction of sea ports. Methodology. The researches were carried out on the basis of methods for organizing the operational work of railways and methods of traction calculations. Findings. The paper highlights the problem of goods traffic organization to seaports by independent carriers. It determines the requirements for equipment for diesel locomotives and electric locomotives depending on the distance of transportation. Permissible distances that can be served by engine crews in performing the requirements for the duration of their continuous operation were also determined. Schemes of infrastructure objects location for the locomotives and engine crews operation have been developed. It was established that diesel locomotives of independent carriers will be able to serve transportation between loading and unloading stations up to 822 km, and electric locomotives up to 1000 km with the construction of the main part of the locomotive infrastructure at the port station. The performed calculations show the potential coverage of rail transportation to sea ports by independent carriers with the use of its own locomotive infrastructure. To define more exactly the haul length of train servicing by locomotives and locomotives by engine crews, it is necessary
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Directory of Open Access Journals (Sweden)
Yu. V. Zelenko
2016-06-01
Full Text Available Purpose.The success of the traffic on the railways of Ukraine depends on the number and the operational fleet of electric locomotives. Today, the locomotive depot exploit physically and morally outdated locomotives that have low reliability. Modernization of electric locomotives is not economically justified. The aim of this study is to improve the safety of the traction rolling stock by the frequency analysis of dynamical systems, which allows conducting the calculation of the natural (of resonant frequencies of the design and related forms of vibrations.Methodology.The study was conducted by methods of analytical mechanics and mathematical modeling of operating loads of freight locomotive when driving at different speeds on the straight and curved track sections. The theoretical value of the work is the technique of choice of constructive schemes and rational parameters of perspective electric locomotive taking into account the electric inertia ratios and stiffness coefficients of Lagrange second-order equations.Findings. The problems of theoretical research and the development of a mathematical model of the spatial electric vibrations are solved. The theoretical studies of the effect of inertia ratios and stiffness coefficients on the dynamic values and the parameter values of electric locomotive undercarriages are presented.Originality.The set of developed regulations and obtained results is a practical solution to selecting rational parameters of bogies of the freight mainline locomotive for railways of Ukraine. A concept of choice of constructive scheme and rational parameters of perspective locomotive is formulated. It is developed the method of calculation of spatial electric locomotive oscillations to determine its dynamic performance. The software complex for processing the data of experimental studies of dynamic parameters of electric locomotive and comparing the results of the theoretical calculations with the data of full
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Energetic Extremes in Aquatic Locomotion by Coral Reef Fishes
Fulton, Christopher J.; Johansen, Jacob L.; Steffensen, John F.
2013-01-01
Underwater locomotion is challenging due to the high friction and resistance imposed on a body moving through water and energy lost in the wake during undulatory propulsion. While aquatic organisms have evolved streamlined shapes to overcome such resistance, underwater locomotion has long been considered a costly exercise. Recent evidence for a range of swimming vertebrates, however, has suggested that flapping paired appendages around a rigid body may be an extremely efficient means of aquatic locomotion. Using intermittent flow-through respirometry, we found exceptional energetic performance in the Bluelined wrasse Stethojulis bandanensis, which maintains tuna-like optimum cruising speeds (up to 1 metre s−1) while using 40% less energy than expected for their body size. Displaying an exceptional aerobic scope (22-fold above resting), streamlined rigid-body posture, and wing-like fins that generate lift-based thrust, S. bandanensis literally flies underwater to efficiently maintain high optimum swimming speeds. Extreme energetic performance may be key to the colonization of highly variable environments, such as the wave-swept habitats where S. bandanensis and other wing-finned species tend to occur. Challenging preconceived notions of how best to power aquatic locomotion, biomimicry of such lift-based fin movements could yield dramatic reductions in the power needed to propel underwater vehicles at high speed. PMID:23326566
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Energetic extremes in aquatic locomotion by coral reef fishes.
Directory of Open Access Journals (Sweden)
Christopher J Fulton
Full Text Available Underwater locomotion is challenging due to the high friction and resistance imposed on a body moving through water and energy lost in the wake during undulatory propulsion. While aquatic organisms have evolved streamlined shapes to overcome such resistance, underwater locomotion has long been considered a costly exercise. Recent evidence for a range of swimming vertebrates, however, has suggested that flapping paired appendages around a rigid body may be an extremely efficient means of aquatic locomotion. Using intermittent flow-through respirometry, we found exceptional energetic performance in the Bluelined wrasse Stethojulis bandanensis, which maintains tuna-like optimum cruising speeds (up to 1 metre s(-1 while using 40% less energy than expected for their body size. Displaying an exceptional aerobic scope (22-fold above resting, streamlined rigid-body posture, and wing-like fins that generate lift-based thrust, S. bandanensis literally flies underwater to efficiently maintain high optimum swimming speeds. Extreme energetic performance may be key to the colonization of highly variable environments, such as the wave-swept habitats where S. bandanensis and other wing-finned species tend to occur. Challenging preconceived notions of how best to power aquatic locomotion, biomimicry of such lift-based fin movements could yield dramatic reductions in the power needed to propel underwater vehicles at high speed.
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The Determination of the Asynchronous Traction Motor Characteristics of Locomotive
Directory of Open Access Journals (Sweden)
Pavel Grigorievich Kolpakhchyan
2017-01-01
Full Text Available The article deals with the problem of the locomotive asynchronous traction motor control with the AC diesel-electric transmission. The limitations of the torque of the traction motor when powered by the inverter are determined. The recommendations to improve the use of asynchronous traction motor of locomotives with the AC diesel-electric transmission are given.
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Quasi-dynamic walk of a quadruped locomotion robot using optimal tracking control
International Nuclear Information System (INIS)
Uchida, Hiroaki; Nonami, Kenzo; Chiba, Yasunori; Koyama, Kakutaro.
1994-01-01
Recently, many research works of quadruped locomotion robots, which are considered to be operable on irregular terrain, have been carried out. In the case of realizing ideal motion control of the quadruped locomotion robot, it is assumed that hierarchical cooperative control consisting of decentralized control and centralized control is desirable. In the case that the locomotion robot moves at high speed, it is impossible to follow the desired trajectory because using only the feedback control method includes time delay. It is known that feedforward control input is valid for such motion control. In this paper, decentralized control is realized to apply optimal tracking control using feedforward control input to the quadruped locomotion robot, as the first step. As a result, it is determined that the angle variation of the foot and the stride applying optimal tracking control input are large compared with using only feedback control. It is verified that feedforward control input is useful to control the trajectory of the tip of the foot in high speed locomotion. (author)
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Slipping slender bodies and enhanced flagellar locomotion
Man, Yi; Lauga, Eric
2017-11-01
In the biological world, many cells exploit slender appendages to swim, include numerous species of bacteria, algae and spermatozoa. A classical method to describe the flow field around such appendages is slender-body theory (SBT), which is often used to study flagellar motility in Newtonian fluids. However, biology environments are often rheologically complex due to the presence of polymers. These polymers generically phase-separate near rigid boundaries where low-viscosity fluid layers lead to effective slip on the surface. In this talk, we present an analytical derivation of SBT in the case where the no-slip boundary condition on the appendage is replaced by a Navier slip boundary condition. Our results demonstrate in particular a systematic reduction of the resistance coefficient of the slender filaments in their tangential direction, which leads to enhanced flagellar locomotion.
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Investigations into dynamics of a draft of mine cars with two locomotives during electric braking
Energy Technology Data Exchange (ETDEWEB)
Sikora-Iliew, R; Szklarski, L; Thuc, Thai Duy
1983-03-01
The computerized simulation of electric braking of a draft of GRANBY-5 mine cars and two locomotives (Ld2 locomotives with LDO30 electric series motors) is discussed. The following stages of simulation are analyzed: constructing a mathematical model of the draft of mine cars during electric (dynamic) braking, equations which describe dynamic states of locomotives, mine cars and electric motors during dynamic braking, equations for stability assessment of the draft during dynamic braking. The analog model for simulation of dynamic braking of the draft is given. Simulation results are shown in 10 diagrams. The WAT-1000 hybrid computer is used. Simulation shows that dynamic braking causes occurrence of maximum forces in the couplers between a locomotive and a mine car. When two locomotives are used the maximum force in couplers is lower than in a draft with one locomotive. Braking distance does not depend on position of locomotives in a draft of mine cars. Doubling draft speed causes braking distance to increase by 4 times. Optimum stability conditions of a draft of mine cars are guaranteed when one locomotive is placed at the draft head and a second is separated from the first one by one third of the draft length. 6 references
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Quadrupedal Robot Locomotion: A Biologically Inspired Approach and Its Hardware Implementation
Directory of Open Access Journals (Sweden)
A. Espinal
2016-01-01
Full Text Available A bioinspired locomotion system for a quadruped robot is presented. Locomotion is achieved by a spiking neural network (SNN that acts as a Central Pattern Generator (CPG producing different locomotion patterns represented by their raster plots. To generate these patterns, the SNN is configured with specific parameters (synaptic weights and topologies, which were estimated by a metaheuristic method based on Christiansen Grammar Evolution (CGE. The system has been implemented and validated on two robot platforms; firstly, we tested our system on a quadruped robot and, secondly, on a hexapod one. In this last one, we simulated the case where two legs of the hexapod were amputated and its locomotion mechanism has been changed. For the quadruped robot, the control is performed by the spiking neural network implemented on an Arduino board with 35% of resource usage. In the hexapod robot, we used Spartan 6 FPGA board with only 3% of resource usage. Numerical results show the effectiveness of the proposed system in both cases.
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Physiological aspects of legged terrestrial locomotion the motor and the machine
Cavagna, Giovanni
2017-01-01
This book offers a succinct but comprehensive description of the mechanics of muscle contraction and legged terrestrial locomotion. It describes on the one hand how the fundamental properties of muscle tissue affect the mechanics of locomotion, and on the other, how the mechanics of locomotion modify the mechanism of muscle operation under different conditions. Further, the book reports on the design and results of experiments conducted with two goals. The first was to describe the physiological function of muscle tissue (which may be considered as the “motor”) contracting at a constant length, during shortening, during lengthening, and under a condition that occurs most frequently in the back-and-forth movement of the limbs during locomotion, namely the stretch-shortening cycle of the active muscle. The second objective was to analyze the interaction between the motor and the “machine” (the skeletal lever system) during walking and running in different scenarios with respect to speed, step frequency,...
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International Nuclear Information System (INIS)
Kim, Cha Soon; Lee, Byung Sub; Lee, In Kyung; Yang, Kwang Hee; Kim, Ji-Young; Nam, Seon Young; Seong, Ki Moon
2015-01-01
Although radiation effects have been extensively studied, the biological effects of low-dose radiation (LDR) are controversial. This study investigates LDR-induced alterations in locomotive behavior and gene expression profiles of Drosophila melanogaster. We measured locomotive behavior using larval pupation height and the rapid iterative negative geotaxis (RING) assay after exposure to 0.1 Gy γ-radiation (dose rate of 16.7 mGy/h). We also observed chronic LDR effects on development (pupation and eclosion rates) and longevity (life span). To identify chronic LDR effects on gene expression, we performed whole-genome expression analysis using gene-expression microarrays, and confirmed the results using quantitative real-time PCR. The pupation height of the LDR-treated group at the first larval instar was significantly higher (∼2-fold increase in PHI value, P < 0.05). The locomotive behavior of LDR-treated male flies (∼3 − 5 weeks of age) was significantly increased by 7.7%, 29% and 138%, respectively (P < 0.01), but pupation and eclosion rates and life spans were not significantly altered. Genome-wide expression analysis identified 344 genes that were differentially expressed in irradiated larvae compared with in control larvae. We identified several genes belonging to larval behavior functional groups such as locomotion (1.1%), oxidation reduction (8.0%), and genes involved in conventional functional groups modulated by irradiation such as defense response (4.9%), and sensory and perception (2.5%). Four candidate genes were confirmed as differentially expressed genes in irradiated larvae using qRT-PCR (>2-fold change). These data suggest that LDR stimulates locomotion-related genes, and these genes can be used as potential markers for LDR. (author)
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Motorneurons dedicated to either forward or backward locomotion in the nematode C. elegans
Haspel, Gal; O'Donovan, Michael J.; Hart, Anne C.
2010-01-01
Multifunctional motorneurons and muscles, which are active during forward and backward locomotion and driven by common central pattern generators, are ubiquitous in animal models. However, studies in the nematode Caenorhabditis elegans suggest that some locomotor motorneurons are necessary only for forward locomotion (dorsal B-motorneurons, DB) while others (dorsal A-motorneurons, DA) are necessary only for backward locomotion. We tested this hypothesis directly by recording the activity of t...
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Fluid Mechanics of Aquatic Locomotion at Large Reynolds Numbers
Govardhan, RN; Arakeri, JH
2011-01-01
Abstract | There exist a huge range of fish species besides other aquatic organisms like squids and salps that locomote in water at large Reynolds numbers, a regime of flow where inertial forces dominate viscous forces. In the present review, we discuss the fluid mechanics governing the locomotion of such organisms. Most fishes propel themselves by periodic undulatory motions of the body and tail, and the typical classification of their swimming modes is based on the fraction of their body...
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49 CFR 1242.22 - Shop buildings-locomotives (account XX-19-24).
2010-10-01
... 49 Transportation 9 2010-10-01 2010-10-01 false Shop buildings-locomotives (account XX-19-24... Structures § 1242.22 Shop buildings—locomotives (account XX-19-24). Separate common expenses according to distribution of common expenses in the following accounts: Machinery Repair (XX-26-40) Locomotive—Repair and...
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Tang, N. W.; Kirchstetter, T.; Martien, P. T.; Apte, J.
2015-12-01
Black carbon (BC) emission factors were measured for a California commuter rail line fleet of diesel-electric passenger locomotives (Caltrain). The emission factors are based on BC and carbon dioxide (CO2) concentrations in the exhaust plumes of passing locomotives, which were measured from pedestrian overpasses using portable analyzers. Each of the 29 locomotives in the fleet was sampled on 4-20 separate occasions at different locations to characterize different driving modes. The average emission factor expressed as g BC emitted per kg diesel consumed was 0.87 ± 0.66 g kg-1 (±1 standard deviation, n = 362 samples). BC emission factors tended to be higher for accelerating locomotives traveling at higher speeds with engines in higher notch settings. Higher fuel-based BC emission factors (g kg-1) were measured for locomotives equipped with separate "head-end" power generators (SEP-HEPs), which power the passenger cars, while higher time-based emission factors (g h-1) were measured for locomotives without SEP-HEPs, whose engines are continuously operated at high speeds to provide both head-end and propulsion power. PM10 emission factors, estimated assuming a BC/PM10 emission ratio of 0.6 and a typical power output-to-fuel consumption ratio, were generally in line with the Environmental Protection Agency's locomotive exhaust emission standards. Per passenger mile, diesel-electric locomotives in this study emit only 20% of the CO2 emitted by typical gasoline-powered light-duty vehicles (i.e., cars). However, the reduction in carbon footprint (expressed in terms of CO2 equivalents) due to CO2 emissions avoidance from a passenger commuting by train rather than car is appreciably offset by the locomotive's higher BC emissions.
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Profile and genetic parameters of dairy cattle locomotion score and lameness across lactation.
Kougioumtzis, A; Valergakis, G E; Oikonomou, G; Arsenos, G; Banos, G
2014-01-01
This study investigated the profile of locomotion score and lameness before the first calving and throughout the first (n=237) and second (n=66) lactation of 303 Holstein cows raised on a commercial farm. Weekly heritability estimates of locomotion score and lameness, and their genetic and phenotypic correlations with milk yield, body condition score, BW and reproduction traits were derived. Daughter future locomotion score and lameness predictions from their sires��� breeding values for conformation traits were also calculated. First-lactation cows were monitored weekly from 6 weeks before calving to the end of lactation. Second-lactation cows were monitored weekly throughout lactation. Cows were locomotion scored on a scale from one (sound) to five (severely lame); a score greater than or equal to two defined presence of lameness. Cows��� weekly body condition score and BW was also recorded. These records were matched to corresponding milk yield records, where the latter were 7-day averages on the week of inspection. The total number of repeated records amounted to 12 221. Data were also matched to the farm���s reproduction database, from which five traits were derived. Statistical analyses were based on uni- and bivariate random regression models. The profile analysis showed that locomotion and lameness problems in first lactation were fewer before and immediately after calving, and increased as lactation progressed. The profile of the two traits remained relatively constant across the second lactation. Highest heritability estimates were observed in the weeks before first calving (0.66 for locomotion score and 0.54 for lameness). Statistically significant genetic correlations were found for first lactation weekly locomotion score and lameness with body condition score, ranging from ���0.31 to ���0.65 and from ���0.44 to ���0.76, respectively, suggesting that cows genetically pre-disposed for high body condition score
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FPGA implementation of a configurable neuromorphic CPG-based locomotion controller.
Barron-Zambrano, Jose Hugo; Torres-Huitzil, Cesar
2013-09-01
Neuromorphic engineering is a discipline devoted to the design and development of computational hardware that mimics the characteristics and capabilities of neuro-biological systems. In recent years, neuromorphic hardware systems have been implemented using a hybrid approach incorporating digital hardware so as to provide flexibility and scalability at the cost of power efficiency and some biological realism. This paper proposes an FPGA-based neuromorphic-like embedded system on a chip to generate locomotion patterns of periodic rhythmic movements inspired by Central Pattern Generators (CPGs). The proposed implementation follows a top-down approach where modularity and hierarchy are two desirable features. The locomotion controller is based on CPG models to produce rhythmic locomotion patterns or gaits for legged robots such as quadrupeds and hexapods. The architecture is configurable and scalable for robots with either different morphologies or different degrees of freedom (DOFs). Experiments performed on a real robot are presented and discussed. The obtained results demonstrate that the CPG-based controller provides the necessary flexibility to generate different rhythmic patterns at run-time suitable for adaptable locomotion. Copyright © 2013 Elsevier Ltd. All rights reserved.
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Fish and robots swimming together: attraction towards the robot demands biomimetic locomotion.
Marras, Stefano; Porfiri, Maurizio
2012-08-07
The integration of biomimetic robots in a fish school may enable a better understanding of collective behaviour, offering a new experimental method to test group feedback in response to behavioural modulations of its 'engineered' member. Here, we analyse a robotic fish and individual golden shiners (Notemigonus crysoleucas) swimming together in a water tunnel at different flow velocities. We determine the positional preference of fish with respect to the robot, and we study the flow structure using a digital particle image velocimetry system. We find that biomimetic locomotion is a determinant of fish preference as fish are more attracted towards the robot when its tail is beating rather than when it is statically immersed in the water as a 'dummy'. At specific conditions, the fish hold station behind the robot, which may be due to the hydrodynamic advantage obtained by swimming in the robot's wake. This work makes a compelling case for the need of biomimetic locomotion in promoting robot-animal interactions and it strengthens the hypothesis that biomimetic robots can be used to study and modulate collective animal behaviour.
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Untethered Recyclable Tubular Actuators with Versatile Locomotion for Soft Continuum Robots.
Qian, Xiaojie; Chen, Qiaomei; Yang, Yang; Xu, Yanshuang; Li, Zhen; Wang, Zhenhua; Wu, Yahe; Wei, Yen; Ji, Yan
2018-05-27
Stimuli-responsive materials offer a distinguished platform to build tether-free compact soft robots, which can combine sensing and actuation without a linked power supply. In the past, tubular soft robots have to be made by multiple components with various internal channels or complex cavities assembled together. Moreover, robust processing, complex locomotion, simple structure, and easy recyclability represent major challenges in this area. Here, it is shown that those challenges can be tackled by liquid crystalline elastomers with allyl sulfide functional groups. The light-controlled exchange reaction between allyl sulfide groups allows flexible processing of tubular soft robots/actuators, which does not need any assisting materials. Complex locomotion demonstrated here includes reversible simultaneous bending and elongation; reversible diameter expansion; and omnidirectional bending via remote infrared light control. Different modes of actuation can be programmed into the same tube without the routine assembly of multiple tubes as used in the past. In addition, the exchange reaction also makes it possible to use the same single tube repeatedly to perform different functions by erasing and reprogramming. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.
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Development of quadruped walking locomotion gait generator using a hybrid method
International Nuclear Information System (INIS)
Jasni, F; Shafie, A A
2013-01-01
The earth, in many areas is hardly reachable by the wheeled or tracked locomotion system. Thus, walking locomotion system is becoming a favourite option for mobile robot these days. This is because of the ability of walking locomotion to move on the rugged and unlevel terrains. However, to develop a walking locomotion gait for a robot is not a simple task. Central Pattern Generator (CPGs) method is a biological inspired method that is introduced as a method to develop the gait for the walking robot recently to tackle the issue faced by the conventional method of pre-designed trajectory based method. However, research shows that even the CPG method do have some limitations. Thus, in this paper, a hybrid method that combines CPG and the pre-designed trajectory based method is introduced to develop a walking gait for quadruped walking robot. The 3-D foot trajectories and the joint angle trajectories developed using the proposed method are compared with the data obtained via the conventional method of pre-designed trajectory to confirm the performance
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Kinematically stable bipedal locomotion using ionic polymer–metal composite actuators
International Nuclear Information System (INIS)
Hosseinipour, Milad; Elahinia, Mohammad
2013-01-01
Ionic conducting polymer–metal composites (abbreviated as IPMCs) are interesting actuators that can act as artificial muscles in robotic and microelectromechanical systems. Various black or gray box models have modeled the electrochemical–mechanical behavior of these materials. In this study, the governing partial differential equation of the behavior of IPMCs is solved using finite element methods to find the critical actuation parameters, such as strain distribution, maximum strain, and response time. One-dimensional results of the FEM solution are then extended to 2D to find the tip displacement of a flap actuator and experimentally verified. A model of a seven-degree-of-freedom biped robot, actuated by IPMC flaps, is then introduced. The possibility of fast and stable bipedal locomotion using IPMC artificial muscles is the main motivation of this study. Considering the actuator limits, joint path trajectories are generated to achieve a fast and smooth motion. The stability of the proposed gait is then evaluated using the ZMP criterion and motion simulation. The fabrication parameters of each actuator, such as length, platinum plating thickness and installation angle, are then determined using the generated trajectories. A discussion on future studies on force–torque generation of IPMCs for biped locomotion concludes this paper. (paper)
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Sustained periodic terrestrial locomotion in air-breathing fishes.
Pace, C M; Gibb, A C
2014-03-01
While emergent behaviours have long been reported for air-breathing osteichthyians, only recently have researchers undertaken quantitative analyses of terrestrial locomotion. This review summarizes studies of sustained periodic terrestrial movements by air-breathing fishes and quantifies the contributions of the paired appendages and the axial body to forward propulsion. Elongate fishes with axial-based locomotion, e.g. the ropefish Erpetoichthys calabaricus, generate an anterior-to-posterior wave of undulation that travels down the axial musculoskeletal system and pushes the body against the substratum at multiple points. In contrast, appendage-based locomotors, e.g. the barred mudskipper Periophthalmus argentilineatus, produce no axial bending during sustained locomotion, but instead use repeated protraction-retraction cycles of the pectoral fins to elevate the centre of mass and propel the entire body anteriorly. Fishes that use an axial-appendage-based mechanism, e.g. walking catfishes Clarias spp., produce side-to-side, whole-body bending in co-ordination with protraction-retraction cycles of the pectoral fins. Once the body is maximally bent to one side, the tail is pressed against the substratum and drawn back through the mid-sagittal plane, which elevates the centre of mass and rotates it about a fulcrum formed by the pectoral fin and the ground. Although appendage-based terrestrial locomotion appears to be rare in osteichthyians, many different species appear to have converged upon functionally similar axial-based and axial-appendage-based movements. Based on common forms observed across divergent taxa, it appears that dorsoventral compression of the body, elongation of the axial skeleton or the presence of robust pectoral fins can facilitate effective terrestrial movement by air-breathing fishes. © 2014 The Fisheries Society of the British Isles.
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Carvalho Coutinho, Ludmilla; Alves de Oliveira, João
2017-10-01
Sigmodontinae rodents constitute the second-largest subfamily among mammals. Alongside the taxonomic diversity, they are also ecologically diverse, exhibiting a wide array of locomotion modes, with semifossorial, terrestrial, semiaquatic, scansorial, arboreal, and saltatorial forms. To understand the ecomorphologic aspects that allow these rodents to display such locomotion diversity, we analyzed 35 qualitative characters of the appendicular skeleton (humerus, ulna, radius, scapula, femur, tibia, ilium, ischium and pubis) in 795 specimens belonging to 64 species, 34 genera and 10 tribes, representing all locomotion modes assigned to this subfamily. We performed a statistical analysis based upon the coefficient of trait differentiation to test the congruence of character states and the different locomotion modes. We also mapped characters states in a molecular phylogeny in order to reconstruct ancestral states and to evaluate how appendicular characters evolved within main lineages of Sigmodontinae radiation under a phylogenetic framework. The statistical analyses revealed six characters related to specific locomotion modes, except terrestrial. The mapping and parsimony ancestral states reconstruction identified two characters with phylogenetical signal and eight characters that are exclusively or more frequently recorded in certain modes of locomotion, four of them also detected by the statistical analysis. Notwithstanding the documented morphological variation, few changes characterize the transition to each of the locomotion modes, at least regarding the appendicular skeleton. This finding corroborates previous results that showed that sigmodontines exhibit an all-purpose appendicular morphology that allows them to use and explore a great variety of habitats. © 2017 Anatomical Society.
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Application of flywheel energy storage for heavy haul locomotives
International Nuclear Information System (INIS)
Spiryagin, Maksym; Wolfs, Peter; Szanto, Frank; Sun, Yan Quan; Cole, Colin; Nielsen, Dwayne
2015-01-01
Highlights: • A novel design for heavy haul locomotive equipped with a flywheel energy storage system is proposed. • The integrated intelligent traction control system was developed. • A flywheel energy storage system has been tested through a simulation process. • The developed hybrid system was verified using an existing heavy haul railway route. • Fuel efficiency analysis confirms advantages of the hybrid design. - Abstract: At the present time, trains in heavy haul operations are typically hauled by several diesel-electric locomotives coupled in a multiple unit. This paper studies the case of a typical consist of three Co–Co diesel-electric locomotives, and considers replacing one unit with an alternative version, with the same design parameters, except that the diesel-electric plant is replaced with flywheel energy storage equipment. The intelligent traction and energy control system installed in this unit is integrated into the multiple-unit control to allow redistribution of the power between all units. In order to verify the proposed design, a three-stage investigation has been performed as described in this paper. The initial stage studies a possible configuration of the flywheel energy storage system by detailed modelling of the proposed intelligent traction and energy control system. The second stage includes the investigation and estimation of possible energy flows using a longitudinal train dynamics simulation. The final stage compares the conventional and the proposed locomotive configurations considering two parameters: fuel efficiency and emissions reduction.
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Using Computational and Mechanical Models to Study Animal Locomotion
Miller, Laura A.; Goldman, Daniel I.; Hedrick, Tyson L.; Tytell, Eric D.; Wang, Z. Jane; Yen, Jeannette; Alben, Silas
2012-01-01
Recent advances in computational methods have made realistic large-scale simulations of animal locomotion possible. This has resulted in numerous mathematical and computational studies of animal movement through fluids and over substrates with the purpose of better understanding organisms’ performance and improving the design of vehicles moving through air and water and on land. This work has also motivated the development of improved numerical methods and modeling techniques for animal locomotion that is characterized by the interactions of fluids, substrates, and structures. Despite the large body of recent work in this area, the application of mathematical and numerical methods to improve our understanding of organisms in the context of their environment and physiology has remained relatively unexplored. Nature has evolved a wide variety of fascinating mechanisms of locomotion that exploit the properties of complex materials and fluids, but only recently are the mathematical, computational, and robotic tools available to rigorously compare the relative advantages and disadvantages of different methods of locomotion in variable environments. Similarly, advances in computational physiology have only recently allowed investigators to explore how changes at the molecular, cellular, and tissue levels might lead to changes in performance at the organismal level. In this article, we highlight recent examples of how computational, mathematical, and experimental tools can be combined to ultimately answer the questions posed in one of the grand challenges in organismal biology: “Integrating living and physical systems.” PMID:22988026
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Chaotic exploration and learning of locomotion behaviors.
Shim, Yoonsik; Husbands, Phil
2012-08-01
We present a general and fully dynamic neural system, which exploits intrinsic chaotic dynamics, for the real-time goal-directed exploration and learning of the possible locomotion patterns of an articulated robot of an arbitrary morphology in an unknown environment. The controller is modeled as a network of neural oscillators that are initially coupled only through physical embodiment, and goal-directed exploration of coordinated motor patterns is achieved by chaotic search using adaptive bifurcation. The phase space of the indirectly coupled neural-body-environment system contains multiple transient or permanent self-organized dynamics, each of which is a candidate for a locomotion behavior. The adaptive bifurcation enables the system orbit to wander through various phase-coordinated states, using its intrinsic chaotic dynamics as a driving force, and stabilizes on to one of the states matching the given goal criteria. In order to improve the sustainability of useful transient patterns, sensory homeostasis has been introduced, which results in an increased diversity of motor outputs, thus achieving multiscale exploration. A rhythmic pattern discovered by this process is memorized and sustained by changing the wiring between initially disconnected oscillators using an adaptive synchronization method. Our results show that the novel neurorobotic system is able to create and learn multiple locomotion behaviors for a wide range of body configurations and physical environments and can readapt in realtime after sustaining damage.
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The Role of Adaptation in Body Load-Regulating Mechanisms During Locomotion
Ruttley, Tara; Holt, Christopher; Mulavara, Ajitkumar; Bloomberg, Jacob
2010-01-01
Body loading is a fundamental parameter that modulates motor output during locomotion, and is especially important for controlling the generation of stepping patterns, dynamic balance, and termination of locomotion. Load receptors that regulate and control posture and stance in locomotion include the Golgi tendon organs and muscle spindles at the hip, knee, and ankle joints, and the Ruffini endings and the Pacinian corpuscles in the soles of the feet. Increased body weight support (BWS) during locomotion results in an immediate reorganization of locomotor control, such as a reduction in stance and double support duration and decreased hip, ankle, and knee angles during the gait cycle. Previous studies on the effect during exposure to increased BWS while walking showed a reduction in lower limb joint angles and gait cycle timing that represents a reorganization of locomotor control. Until now, no studies have investigated how locomotor control responds after a period of exposure to adaptive modification in the body load sensing system. The goal of this research was to determine the adaptive properties of body load-regulating mechanisms in locomotor control during locomotion. We hypothesized that body load-regulating mechanisms contribute to locomotor control, and adaptive changes in these load-regulating mechanisms require reorganization to maintain forward locomotion. Head-torso coordination, lower limb movement patterns, and gait cycle timing were evaluated before and after a 30-minute adaptation session during which subjects walked on a treadmill at 5.4 km/hr with 40% body weight support (BWS). Before and after the adaptation period, head-torso and lower limb 3D kinematic data were obtained while performing a goal directed task during locomotion with 0% BWS using a video-based motion analysis system, and gait cycle timing parameters were collected by foot switches positioned under the heel and toe of the subjects shoes. Subjects showed adaptive modification in
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Dynamic processes during monorail locomotive rocking and their impact on draw gear characteristics
Viktor GUTAREVICH
2011-01-01
The article discusses the motion of the suspended monorail locomotive, interrelation between the parameters of irregularities false path and lateral rocking monorail locomotive, the values of lateral deviation for the different speeds on the monorail.
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A novel controller for bipedal locomotion integrating feed-forward and feedback mechanisms
Xiong, Xiaofeng; Sartori, Massimo; Dosen, Strahinja; González-Vargas, José; Wörgötter, Florentin; Farina, Dario; Ibanez, J.; González-Vargas, J.; Azorin, J.M.; Akay, M.; Pons, J.L.
2017-01-01
It has been recognized that bipedal locomotion is controlled using feed-forward (e.g., patterned) and feedback (e.g., reflex) control schemes. However, most current controllers fail to integrate the two schemes to simplify speed control of bipedal locomotion. To solve this problem, we here propose a
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Krause, James; Carter, Rickey E; Brotherton, Sandra
2009-01-01
Background/Objective: To explore the association of mode of locomotion (ambulation vs wheelchair use) and independence in locomotion (independent vs require assistance) with health, participation, and subjective well-being (SWB) after spinal cord injury (SCI). Research Design: Secondary analysis was conducted on survey data collected from 2 rehabilitation hospitals in the Midwest and a specialty hospital in the southeastern United States. The 1,493 participants were a minimum of 18 years of age and had traumatic SCI of at least 1 year duration at enrollment. Main Outcome Measures: Three sets of outcome measures were used: SWB, participation, and health. SWB was measured by 8 scales and a measure of depressive symptoms, participation by 3 items, health by general health ratings, days in poor health, hospitalizations, and treatments. Results: Small but significant associations were observed between independence in locomotion and every outcome. Ambulation was associated with greater participation but a mixed pattern of favorable and unfavorable health and SWB outcomes. Supplemental analyses were conducted on those who ambulated but who were dependent on others to do so (n = 117), because this group reported poor outcomes in several areas. Individuals who were independent in wheelchair use reported substantially better outcomes than nonwheelchair users and those dependent on others in wheelchair use. Conclusions: Although ambulation is often a recovery goal, individuals with SCI who ambulate do not uniformly report better outcomes than wheelchair users, and those who depend on others for assistance with ambulation may experience a unique set of problems. PMID:19810625
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Directory of Open Access Journals (Sweden)
Roland F Schwarz
2015-08-01
Full Text Available Locomotion is driven by shape changes coordinated by the nervous system through time; thus, enumerating an animal's complete repertoire of shape transitions would provide a basis for a comprehensive understanding of locomotor behaviour. Here we introduce a discrete representation of behaviour in the nematode C. elegans. At each point in time, the worm's posture is approximated by its closest matching template from a set of 90 postures and locomotion is represented as sequences of postures. The frequency distribution of postural sequences is heavy-tailed with a core of frequent behaviours and a much larger set of rarely used behaviours. Responses to optogenetic and environmental stimuli can be quantified as changes in postural syntax: worms show different preferences for different sequences of postures drawn from the same set of templates. A discrete representation of behaviour will enable the use of methods developed for other kinds of discrete data in bioinformatics and language processing to be harnessed for the study of behaviour.
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49 CFR 230.20 - Alteration and repair report for steam locomotive boilers.
2010-10-01
... boilers. 230.20 Section 230.20 Transportation Other Regulations Relating to Transportation (Continued... boilers. (a) Alterations. When an alteration is made to a steam locomotive boiler, the steam locomotive... maintained for the life of the boiler. (See appendix B of this part.) (b) Welded and riveted repairs to...
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Dynamic processes during monorail locomotive rocking and their impact on draw gear characteristics
Directory of Open Access Journals (Sweden)
Viktor GUTAREVICH
2011-01-01
Full Text Available The article discusses the motion of the suspended monorail locomotive, interrelation between the parameters of irregularities false path and lateral rocking monorail locomotive, the values of lateral deviation for the different speeds on the monorail.
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Response to various periods of mechanical stimuli in Physarum plasmodium
International Nuclear Information System (INIS)
Umedachi, Takuya; Ito, Kentaro; Kobayashi, Ryo; Ishiguro, Akio; Nakagaki, Toshiyuki
2017-01-01
Response to mechanical stimuli is a fundamental and critical ability for living cells to survive in hazardous conditions or to form adaptive and functional structures against force(s) from the environment. Although this ability has been extensively studied by molecular biology strategies, it is also important to investigate the ability from the viewpoint of biological rhythm phenomena so as to reveal the mechanisms that underlie these phenomena. Here, we use the plasmodium of the true slime mold Physarum polycephalum as the experimental system for investigating this ability. The plasmodium was repetitively stretched for various periods during which its locomotion speed was observed. Since the plasmodium has inherent oscillation cycles of protoplasmic streaming and thickness variation, how the plasmodium responds to various periods of external stretching stimuli can shed light on the other biological rhythm phenomena. The experimental results show that the plasmodium exhibits response to periodic mechanical stimulation and changes its locomotion speed depending on the period of the stretching stimuli. (paper)
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Locomotion mode identification for lower limbs using neuromuscular and joint kinematic signals.
Afzal, Taimoor; White, Gannon; Wright, Andrew B; Iqbal, Kamran
2014-01-01
Recent development in lower limb prosthetics has seen an emergence of powered prosthesis that have the capability to operate in different locomotion modes. However, these devices cannot transition seamlessly between modes such as level walking, stair ascent and descent and up slope and down slope walking. They require some form of user input that defines the human intent. The purpose of this study was to develop a locomotion mode detection system and evaluate its performance for different sensor configurations and to study the effect of locomotion mode detection with and without electromyography (EMG) signals while using kinematic data from hip joint of non-dominant/impaired limb and an accelerometer. Data was collected from four able bodied subjects that completed two circuits that contained standing, level-walking, ramp ascent and descent and stair ascent and descent. By using only the kinematic data from the hip joint and accelerometer data the system was able to identify the transitions, stance and swing phases with similar performance as compared to using only EMG and accelerometer data. However, significant improvement in classification error was observed when EMG, kinematic and accelerometer data were used together to identify the locomotion modes. The higher recognition rates when using the kinematic data along with EMG shows that the joint kinematics could be beneficial in intent recognition systems of locomotion modes.
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Fictive locomotion in the adult decerebrate and spinal mouse in vivo
DEFF Research Database (Denmark)
Meehan, Claire Francesca; Grøndahl, Lillian; Nielsen, Jens Bo
2012-01-01
Recently, transgenic mice have been created with mutations affecting the components of the mammalian spinal central pattern generator (CPG) for locomotion, however, it has currently only been possible to evoke fictive locomotion in mice, using neonatal in vitro preparations. Here, we demonstrate...... organisation and allowing for future results in transgenic mice to be extrapolated to existing knowledge of CPG components and circuitry obtained in larger species....
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77 FR 75045 - Locomotive Safety Standards
2012-12-19
...; and, locomotive diesel exhaust. In addition to the issues raised in the petitions, FRA has determined... flow method (AFM) indicator calibration date on the Form 6180-49A; the duration of the remote control... in the context of its use. For example, fuel injectors might possibly be considered as providing...
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DETERMINATION OF FRAME FORCE FOR ELECTRIC LOCOMOTIVE VL80 WHEN MOVING IN THE CURVED TRACK SECTIONS
Directory of Open Access Journals (Sweden)
A. Y. Kuzyshyn
2017-06-01
Full Text Available Purpose. When locomotives move in curved sections of the railway track, horizontal forces arise, which lead to pressing the ridge of the wheel pair to the railway track. The article is aimed to develop a method for determining the frame force acting on the bogie from the side of body of the locomotive section using the current methodology of calculating the lateral force. It is also aimed to determine the basic parameters that influence the value of the frame force. It is necessary to construct the dependencies of the frame force on the travel time of electric locomotive in the corresponding curve changing these parameters. Methodology. As is known, the electric locomotive is a multimass mechanical system. We will assume that this system consists of seven bodies: a body, two frames of carriages and four wheel sets. To determine the lateral force acting on the rail from the wheelset one need to solve differential equations of motion of locomotive bogie in curves of small radius. Using the equations of kinetostatics for wheelset one should come to determining the frame force acting on the car bogie from the side of body of the locomotive section. The nominal geometric and mass parameters of parts and components of electric locomotive are taken in the calculations. The curve radius, the length of transition curve, the length of circular curve, the longitudinal slope of railway track and other parameters are fixed values. Findings. There were obtained calculated values of the frame force of electric locomotive VL80 acting on the bogie from the side of body of the locomotive section. Based on the obtained results there were built the dependencies of frame force on the travel time of electric locomotive on the corresponding curve when changing the speed and corresponding elevation of the outer rail. Originality. On the basis of the existing methodology for calculating the lateral force it was developed the method for determining the frame force acting
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Energy Technology Data Exchange (ETDEWEB)
Asnafi, Alireza [Hydro-Aeronautical Research Center, Shiraz University, Shiraz, 71348-13668 (Iran, Islamic Republic of); Mahzoon, Mojtaba [Department of Mechanical Engineering, School of Engineering, Shiraz University, Shiraz, 71348-13668 (Iran, Islamic Republic of)
2011-09-15
Based on a geometric fiber bundle structure, a generalized method to solve both regulation and trajectory tracking problems for locomotion systems is presented. The method is especially applied to two case studies of robotic locomotion systems; a three link articulated fish-like robot as a prototype of locomotion systems with symmetry, and the snakeboard as a prototype of mixed locomotion systems. Our results show that although these motion planners have an open loop structure, due to their generalities, they can steer case studies with negligible errors for almost any complicated path.
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International Nuclear Information System (INIS)
Asnafi, Alireza; Mahzoon, Mojtaba
2011-01-01
Based on a geometric fiber bundle structure, a generalized method to solve both regulation and trajectory tracking problems for locomotion systems is presented. The method is especially applied to two case studies of robotic locomotion systems; a three link articulated fish-like robot as a prototype of locomotion systems with symmetry, and the snakeboard as a prototype of mixed locomotion systems. Our results show that although these motion planners have an open loop structure, due to their generalities, they can steer case studies with negligible errors for almost any complicated path.
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Steidl, Stephan; Lee, Esther; Wasserman, David; Yeomans, John S
2013-09-01
Lesions of the pedunculopontine tegmental nucleus (PPT), one of two sources of cholinergic input to the ventral tegmental area (VTA), block conditioned place preference (CPP) for morphine in drug-naïve rats. M5 muscarinic cholinergic receptors, expressed by midbrain dopamine neurons, are critical for the ability of morphine to increase nucleus accumbens dopamine levels and locomotion, and for morphine CPP. This suggests that M5-mediated PPT cholinergic inputs to VTA dopamine neurons critically contribute to morphine-induced dopamine activation, reward and locomotion. In the current study we tested whether food deprivation, which reduces PPT contribution to morphine CPP in rats, could also reduce M5 contributions to morphine-induced locomotion in mice. Acute 18-h food deprivation reversed the phenotypic differences usually seen between non-deprived wild-type and M5 knockout mice. That is, food deprivation increased morphine-induced locomotion in M5 knockout mice but reduced morphine-induced locomotion in wild-type mice. Food deprivation increased saline-induced locomotion equally in wild-type and M5 knockout mice. Based on these findings, we suggest that food deprivation reduces the contribution of M5-mediated PPT cholinergic inputs to the VTA in morphine-induced locomotion and increases the contribution of a PPT-independent pathway. The contributions of cholinergic, dopaminergic and GABAergic neurons to the effects of acute food deprivation are discussed. Copyright © 2013 Elsevier B.V. All rights reserved.
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FORMALIZATION OF LOCOMOTIVE DRIVER ACTIVITY TENSION INDICATOR BASED ON THE ERGONOMIC MODEL
Directory of Open Access Journals (Sweden)
O. M. Horobchenko
2017-02-01
Full Text Available Purpose. A key factor contributing to the safety and quality of ergatic system "train-driver" is the intensity of the locomotive crew’s work. The aim of this work is formalization of locomotive driver activity tension indicator. Methodology. One of the characteristics of driver activity tension is the difference between the time allotted to complete the task, and the necessary (external reserve or deficiency time. The sets of major and minor operations in the management of the train locomotive in different train situations were identified. Using the methods of fuzzy logic, the concept of "materiality of the operation of the locomotive control" is presented in the form of a set of linguistic variables. To determine the function membership of the elements of the set "the importance of the operation of the locomotive control" the method of expert evaluations was used. Coefficient of temporary tension is presented in the form of fuzzy number L-R-type. Findings. It was found the value of the relative number of operations of locomotive control according to the distribution using the parameter of operation "importance". To determine the most tensioned mode of the driver ranking the traffic condition according to the parameter of relative amounts of the important management operations was conducted. The most difficult modes are the "front hindrance", "movement in unfavorable weather conditions" and "departure from the station to the running line". Originality. The introduction of the value "conventional importance of the operation" allowed us to more accurately describe the terms of train driving. For the first time the work presents determination of tension of the driver’s work in the form of a unimodal fuzzy number, which will make it possible to use the methods of the theory of artificial intelligence to simulate activity of the locomotive driver and develop intelligent control systems. Practical value. There were obtained the opportunity to
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Visvanathan, Karthik; Gianchandani, Yogesh B.
2011-12-01
This paper reports the locomotion response of airborne, ambulatory and aquatic insects to thermal stimulation. A finite element model has been developed to predict the variation of insect-stimulator interface temperature with input power. Piezothermal stimulators have been fabricated from lead zirconate titanate (PZT) using a batch mode micro ultrasonic machining process. Typical sizes range from 200 µm to 3.2 mm. For PZT stimulators, the temperature and thermal efficiency reach the maximum value around the resonance frequency which is typically in the range of 650 kHz to 47 MHz. Experiments have been conducted on green June beetles (GJBs), Madagascar hissing roaches and green diving beetles (GDBs) in order to show the versatility of the proposed technique. The stimulators have been implanted near the antennae of the GJBs and on either side of the thorax of the Madagascar hissing roaches and GDBs, respectively. In all cases, the insects move away from the direction of the actuated stimulator. The left and right turns are statistically similar. Thermal stimulation achieves an overall success rate of 78.7%, 92.8% and 61.6% in GJBs, roaches and GDBs, respectively. On average, thermal stimulation results in an angle turn of about 13.7°-16.2° on GJBs, 30°-45° on the roaches and 30°-50° on GDBs. The corresponding average input power is 360, 330 and 100 mW for GJBs, roach and GDBs, respectively. Scaling limits of the PZT stimulators for operating these stimulators are also discussed.
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2010-07-01
... localizing its apparent source(s). If the observer is clearly convinced by this localization process that the... is observed to change by 10 dB, coincident with evidence of a change in operation of the locomotive... microphone position on a diagram of the particular railroad facility, and the distances between the...
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HoverBots: Precise Locomotion Using Robots That Are Designed for Manufacturability
Directory of Open Access Journals (Sweden)
Markus P. Nemitz
2017-11-01
Full Text Available Scaling up robot swarms to collectives of hundreds or even thousands without sacrificing sensing, processing, and locomotion capabilities is a challenging problem. Low-cost robots are potentially scalable, but the majority of existing systems have limited capabilities, and these limitations substantially constrain the type of experiments that could be performed by robotics researchers. As an alternative to increasing the quantity of robots by reducing their functionality, we have developed a new technology that delivers increased functionality at low-cost. In this study, we present a comprehensive literature review on the most commonly used locomotion strategies of swarm robotic systems. We introduce a new type of low-friction locomotion—active low-friction locomotion—and we show its first implementation in the HoverBot system. The HoverBot system consists of an air levitation and magnet table, and a HoverBot agent. HoverBot agents are levitating circuit boards that we have equipped with an array of planar coils and a Hall-effect sensor. The HoverBot agent uses its coils to pull itself toward magnetic anchors that are embedded into a levitation table. These robots use active low-friction locomotion; consist of only surface-mount components; circumvent actuator calibration; are capable of odometry by using a single Hall-effect sensor; and perform precise movement. We conducted three hours of experimental evaluation of the HoverBot system in which we observed the system performing more than 10,000 steps. We also demonstrate formation movement, random collision, and straight collisions with two robots. This study demonstrates that active low-friction locomotion is an alternative to wheeled and slip-stick locomotion in the field of swarm robotics.
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Design and analysis of an optimal hopper for use in resonance-based locomotion
Wanders, Ivor; Folkertsma, Gerrit Adriaan; Stramigioli, Stefano
Quadrupedal running is an efficient form of locomotion found in nature, which serves as an inspiration for robotics. We believe that a resonance-based approach is the path towards energy-efficient legged locomotion and running robots. The first step in working towards this goal is creating an
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Swimming at low Reynolds number: a beginners guide to undulatory locomotion
Cohen, Netta; Boyle, Jordan H.
2010-03-01
Undulatory locomotion is a means of self-propulsion that relies on the generation and propagation of waves along a body. As a mode of locomotion it is primitive and relatively simple, yet can be remarkably robust. No wonder then, that it is so prevalent across a range of biological scales from motile bacteria to gigantic prehistoric snakes. Key to understanding undulatory locomotion is the body's interplay with the physical environment, which the swimmer or crawler will exploit to generate propulsion, and in some cases, even to generate the underlying undulations. This review focuses by and large on undulators in the low Reynolds number regime, where the physics of the environment can be much more tractable. We review some key concepts and theoretical advances, as well as simulation tools and results applied to selected examples of biological swimmers. In particular, we extend the discussion to some simple cases of locomotion in non-Newtonian media as well as to small animals, in which the nervous system, motor control, body properties and the environment must all be considered to understand how undulations are generated and modulated. To conclude, we review recent progress in microrobotic undulators that may one day become commonplace in applications ranging from toxic waste disposal to minimally invasive surgery.
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49 CFR 229.129 - Locomotive horn.
2010-10-01
.... The locomotive shall be positioned on straight, level track. (6) Measurements shall be taken only when... between 20 percent and 95 percent inclusively; wind velocity is not more than 12 miles per hour and there..., at an angle no greater than 20 degrees from the center line of the track, and oriented with respect...
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Equilibrium Condition during Locomotion and Gait in Broiler Chickens
Directory of Open Access Journals (Sweden)
MCF Alves
Full Text Available ABSTRACT The experiment was carried out with the objective of evaluating a methodology to estimate the angulation and equilibrium condition, relating them to gait score and the main diseases of the locomotion system in males and females of commercial broiler strains. A completely randomized experimental design in a factorial arrangement (2x2 was applied, consisting of two sexes and two genetic strains, with five replicates of 53 chickens each. The following characteristics related to broiler locomotion were studied: gait score (GS; incidence of Valgus (VAL and Varus (VAR deformities and of pododermatitis (POD; body angle relative the ground (ANG; equilibrium condition (EC; body weight (BW and breast weight (BrW; and incidence of femoral degeneration (FD, tibial dyschondroplasia (TD and spondylolisthesis (SPO. GS, and VAL and VAR were assessed inside a broiler house. Birds were then photographed to estimate ANG and EC. Birds were sacrificed at 42 days of age and analyzed for FD, TD, and SPO. Breast percentage was not influenced by sex or strain. Males showed better ANG than females, regardless of strain. Overall, the strains studied showed prostrated EC. The correlation between GS and the evaluated traits was low. There was a moderate to high association between EC and ANG both in males and females. GS showed low correlation with locomotion problems, and therefore, it is a poor indicator of skeletal diseases. On the other hand, the moderate to high correlations of ANG and EC with locomotion problems make them better indicators of bone diseases than gait score, which is possibly more related to EC and body posture than to bone pathologies.
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Dynamic Locomotion With Four and Six-Legged Robots
National Research Council Canada - National Science Library
Buehler, M; Saranli, U; Papadopoulos, D; Koditschek, D
2000-01-01
.... The Scout II quadruped runs on flat ground in a bounding gait, and was motivated by an effort to understand the minimal mechanical design and control complexity for dynamically stable locomotion...
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Unsteady locomotion: integrating muscle function with whole body dynamics and neuromuscular control
Biewener, Andrew A.; Daley, Monica A.
2009-01-01
Summary By integrating studies of muscle function with analysis of whole body and limb dynamics, broader appreciation of neuromuscular function can be achieved. Ultimately, such studies need to address non-steady locomotor behaviors relevant to animals in their natural environments. When animals move slowly they likely rely on voluntary coordination of movement involving higher brain centers. However, when moving fast, their movements depend more strongly on responses controlled at more local levels. Our focus here is on control of fast-running locomotion. A key observation emerging from studies of steady level locomotion is that simple spring-mass dynamics, which help to economize energy expenditure, also apply to stabilization of unsteady running. Spring-mass dynamics apply to conditions that involve lateral impulsive perturbations, sudden changes in terrain height, and sudden changes in substrate stiffness or damping. Experimental investigation of unsteady locomotion is challenging, however, due to the variability inherent in such behaviors. Another emerging principle is that initial conditions associated with postural changes following a perturbation define different context-dependent stabilization responses. Distinct stabilization modes following a perturbation likely result from proximo-distal differences in limb muscle architecture, function and control strategy. Proximal muscles may be less sensitive to sudden perturbations and appear to operate, in such circumstances, under feed-forward control. In contrast, multiarticular distal muscles operate, via their tendons, to distribute energy among limb joints in a manner that also depends on the initial conditions of limb contact with the ground. Intrinsic properties of these distal muscle–tendon elements, in combination with limb and body dynamics, appear to provide rapid initial stabilizing mechanisms that are often consistent with spring-mass dynamics. These intrinsic mechanisms likely help to simplify the
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2011-09-01
This report presents the test results and finite element correlations of a full-scale dynamic collision test with rail vehicles as part of the Federal Railroad Administrations research program on improved crashworthiness of locomotive structures. ...
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de Carvalho, Alberito Rodrigo; Andrade, Alexandro; Peyré-Tartaruga, Leonardo Alexandre
2015-01-01
One goal of the locomotion is to move the body in the space at the most economical way possible. However, little is known about the mechanical and energetic aspects of locomotion that are affected by low back pain. And in case of occurring some damage, little is known about how the mechanical and energetic characteristics of the locomotion are manifested in functional activities, especially with respect to the energy-minimizer mechanisms during locomotion. This study aimed: a) to describe the main energy-minimizer mechanisms of locomotion; b) to check if there are signs of damage on the mechanical and energetic characteristics of the locomotion due to chronic low back pain (CLBP) which may endanger the energy-minimizer mechanisms. This study is characterized as a narrative literature review. The main theory that explains the minimization of energy expenditure during the locomotion is the inverted pendulum mechanism, by which the energy-minimizer mechanism converts kinetic energy into potential energy of the center of mass and vice-versa during the step. This mechanism is strongly influenced by spatio-temporal gait (locomotion) parameters such as step length and preferred walking speed, which, in turn, may be severely altered in patients with chronic low back pain. However, much remains to be understood about the effects of chronic low back pain on the individual's ability to practice an economic locomotion, because functional impairment may compromise the mechanical and energetic characteristics of this type of gait, making it more costly. Thus, there are indications that such changes may compromise the functional energy-minimizer mechanisms. Copyright © 2014 Elsevier Editora Ltda. All rights reserved.
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Locomotive energy savings possibilities
Directory of Open Access Journals (Sweden)
Leonas Povilas LINGAITIS
2009-01-01
Full Text Available Economic indicators of electrodynamic braking have not been properly estimated. Vehicles with alternative power trains are transitional stage between development of pollution- free vehicles. According to these aspects the investigation on conventional hybrids drives and their control system is carried out in the article. The equation that allows evaluating effectiveness of regenerative braking for different variants of hybrid drive are given. Presenting different types of locomotive energy savings power systems, which are using regenerative braking energy any form of hybrid traction vehicles systems, circuit diagrams, electrical parameters curves.
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Locomotion of a bioinspired flyer powered by one pair of pitching foils
Zhang, Xiang; He, Guowei; Wang, Shizhao; Zhang, Xing
2018-01-01
We numerically investigate the flight dynamics and aerodynamics of a two-dimensional model for the jellyfishlike ornithopter recently devised by Ristroph and Childress [L. Ristroph and S. Childress, J. R. Soc. Interface 11, 20130992 (2014), 10.1098/rsif.2013.0992]. This simplified model is composed of two rigid thin foils which are forced to pitch in antiphase fashion. The Navier-Stokes equations for the fluid and the dynamics equations for the flyer are solved together in the simulations. We first consider the constrained-flying condition where the flyer model is only allowed to move in the vertical direction. The influences of the control parameters on the hovering performance are studied. With the variations in parameter values, three different locomotion states, i.e., ascending, descending, and approximate hovering, are identified. The wake structures corresponding to these three locomotion states are explored. It is found that the approximate hovering state cannot persist due to the occurrence of wake symmetry breaking after long-time simulation. We then consider the free-flying condition where the motions in three degrees of freedom are allowed. We study the postural stability of a flyer, with its center of gravity located at the geometric center. The responses of the flyer at different locomotion states to physical and numerical perturbations are examined. Our results show that the ascending state is recoverable after the perturbation. The descending state is irrecoverable after the perturbation and a mixed fluttering and tumbling motion which resembles that of a falling card emerges. The approximate hovering state is also irrecoverable and it eventually transits to the ascending state after the perturbation. The research sheds light on the lift-producing mechanism and stability of the flyer and the results are helpful in guiding the design and optimization of the jellyfishlike flying machine.
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Van Nuffel, A; Van De Gucht, T; Saeys, W; Sonck, B; Opsomer, G; Vangeyte, J; Mertens, K C; De Ketelaere, B; Van Weyenberg, S
2016-09-01
To tackle the high prevalence of lameness, techniques to monitor cow locomotion are being developed in order to detect changes in cows' locomotion due to lameness. Obviously, in such lameness detection systems, alerts should only respond to locomotion changes that are related to lameness. However, other environmental or cow factors can contribute to locomotion changes not related to lameness and hence, might cause false alerts. In this study the effects of wet surfaces, dark environment, age, production level, lactation and gestation stage on cow locomotion were investigated. Data was collected at Institute for Agricultural and Fisheries Research research farm (Melle, Belgium) during a 5-month period. The gait variables of 30 non-lame and healthy Holstein cows were automatically measured every day. In dark environments and on wet walking surfaces cows took shorter, more asymmetrical strides with less step overlap. In general, older cows had a more asymmetrical gait and they walked slower with more abduction. Lactation stage or gestation stage also showed significant association with asymmetrical and shorter gait and less step overlap probably due to the heavy calf in the uterus. Next, two lameness detection algorithms were developed to investigate the added value of environmental and cow data into detection models. One algorithm solely used locomotion variables and a second algorithm used the same locomotion variables and additional environmental and cow data. In the latter algorithm only age and lactation stage together with the locomotion variables were withheld during model building. When comparing the sensitivity for the detection of non-lame cows, sensitivity increased by 10% when the cow data was added in the algorithm (sensitivity was 70% and 80% for the first and second algorithm, respectively). Hence, the number of false alerts for lame cows that were actually non-lame, decreased. This pilot study shows that using knowledge on influencing factors on cow
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Crucial advantages of tail use in the evolution of vertebrate terrestrial locomotion
Astley, Henry; McInroe, Benjamin; Kawano, Sandy; Blob, Rick; Goldman, Daniel
In the invasion of terrestrial environment, the first tetrapods faced the challenge of locomotion on flowable substrates (e.g. sand and mud), sometimes oriented at inclines. Although the morphology of many early tetrapods is known, robotic studies have revealed that effective locomotion on these substrates also depends strongly upon kinematics; slight differences in movements of the same appendage can lead to success or failure. Using a model organism (the mudskipper) and a robotic physical model, we demonstrate how muscular tails provided critical locomotor advantages on granular substrates that the first invaders of land likely encountered. Mudskippers use their tails for additional propulsion with increasing frequency as the slope of the granular material increases, and the decline in locomotor performance with slope is shallower when the tail is used. Experiments with a robotic model of the mudskipper showed that, while the tail did not always provide a benefit to locomotion, use of the tail made the robot's performance more robust, achieving effective locomotion on a wider range of slopes, limb postures and foot placements. These results suggest that, rather than simply being an inert appendage, the tails of early tetrapods were vital to their first forays into terrestrial habitats.
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Emotion through Locomotion: Gender Impact
Kr?ger, Samuel; Sokolov, Alexander N.; Enck, Paul; Kr?geloh-Mann, Ingeborg; Pavlova, Marina A.
2013-01-01
Body language reading is of significance for daily life social cognition and successful social interaction, and constitutes a core component of social competence. Yet it is unclear whether our ability for body language reading is gender specific. In the present work, female and male observers had to visually recognize emotions through point-light human locomotion performed by female and male actors with different emotional expressions. For subtle emotional expressions only, males surpass fema...
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Bombardier extends its TRAXX locomotive family; Bombardier erweitert seine Lokomotivfamilie TRAXX
Energy Technology Data Exchange (ETDEWEB)
Vitins, J. [Bombardier, Zuerich (Switzerland)
2005-07-01
Bombardier has extended and optimised its TRAXX locomotive platform, launched in 2003, with the addition of a multi-system locomotive and the introduction of technical innovations. The developments centre on the multi-system loco TRAXX F140 MS, which gained approval in a very short space of time and is already being successfully operated by SBB as type Re 484 for freight traffic between Switzerland and Italy; the TRAXX F140 DC, recently ordered by Angel Trains Cargo for Italy's DC network, and the 2nd series of the proven AC loco TRAXX AC2, operated by Railion in Germany as type BR 185.2. All these locomotive types reflect the development work undertaken with a view to accommodating the various national train protection systems through the new ETCS-compatible Bombardier ATP (Automatic Train Protection) system, together with chopper-controlled power conversion in DC networks. (orig.)
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PSO-SVM-Based Online Locomotion Mode Identification for Rehabilitation Robotic Exoskeletons.
Long, Yi; Du, Zhi-Jiang; Wang, Wei-Dong; Zhao, Guang-Yu; Xu, Guo-Qiang; He, Long; Mao, Xi-Wang; Dong, Wei
2016-09-02
Locomotion mode identification is essential for the control of a robotic rehabilitation exoskeletons. This paper proposes an online support vector machine (SVM) optimized by particle swarm optimization (PSO) to identify different locomotion modes to realize a smooth and automatic locomotion transition. A PSO algorithm is used to obtain the optimal parameters of SVM for a better overall performance. Signals measured by the foot pressure sensors integrated in the insoles of wearable shoes and the MEMS-based attitude and heading reference systems (AHRS) attached on the shoes and shanks of leg segments are fused together as the input information of SVM. Based on the chosen window whose size is 200 ms (with sampling frequency of 40 Hz), a three-layer wavelet packet analysis (WPA) is used for feature extraction, after which, the kernel principal component analysis (kPCA) is utilized to reduce the dimension of the feature set to reduce computation cost of the SVM. Since the signals are from two types of different sensors, the normalization is conducted to scale the input into the interval of [0, 1]. Five-fold cross validation is adapted to train the classifier, which prevents the classifier over-fitting. Based on the SVM model obtained offline in MATLAB, an online SVM algorithm is constructed for locomotion mode identification. Experiments are performed for different locomotion modes and experimental results show the effectiveness of the proposed algorithm with an accuracy of 96.00% ± 2.45%. To improve its accuracy, majority vote algorithm (MVA) is used for post-processing, with which the identification accuracy is better than 98.35% ± 1.65%. The proposed algorithm can be extended and employed in the field of robotic rehabilitation and assistance.
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PSO-SVM-Based Online Locomotion Mode Identification for Rehabilitation Robotic Exoskeletons
Directory of Open Access Journals (Sweden)
Yi Long
2016-09-01
Full Text Available Locomotion mode identification is essential for the control of a robotic rehabilitation exoskeletons. This paper proposes an online support vector machine (SVM optimized by particle swarm optimization (PSO to identify different locomotion modes to realize a smooth and automatic locomotion transition. A PSO algorithm is used to obtain the optimal parameters of SVM for a better overall performance. Signals measured by the foot pressure sensors integrated in the insoles of wearable shoes and the MEMS-based attitude and heading reference systems (AHRS attached on the shoes and shanks of leg segments are fused together as the input information of SVM. Based on the chosen window whose size is 200 ms (with sampling frequency of 40 Hz, a three-layer wavelet packet analysis (WPA is used for feature extraction, after which, the kernel principal component analysis (kPCA is utilized to reduce the dimension of the feature set to reduce computation cost of the SVM. Since the signals are from two types of different sensors, the normalization is conducted to scale the input into the interval of [0, 1]. Five-fold cross validation is adapted to train the classifier, which prevents the classifier over-fitting. Based on the SVM model obtained offline in MATLAB, an online SVM algorithm is constructed for locomotion mode identification. Experiments are performed for different locomotion modes and experimental results show the effectiveness of the proposed algorithm with an accuracy of 96.00% ± 2.45%. To improve its accuracy, majority vote algorithm (MVA is used for post-processing, with which the identification accuracy is better than 98.35% ± 1.65%. The proposed algorithm can be extended and employed in the field of robotic rehabilitation and assistance.
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Control method for biped locomotion robots based on ZMP information
International Nuclear Information System (INIS)
Kume, Etsuo
1994-01-01
The Human Acts Simulation Program (HASP) started as a ten year program of Computing and Information Systems Center (CISC) at Japan Atomic Energy Research Institute (JAERI) in 1987. A mechanical design study of biped locomotion robots for patrol and inspection in nuclear facilities is being performed as an item of the research scope. One of the goals of our research is to design a biped locomotion robot for practical use in nuclear facilities. So far, we have been studying for several dynamic walking patterns. In conventional control methods for biped locomotion robots, the program control is used based on preset walking patterns, so it dose not have the robustness such as a dynamic change of walking pattern. Therefore, a real-time control method based on dynamic information of the robot states is necessary for the high performance of walking. In this study a new control method based on Zero Moment Point (ZMP) information is proposed as one of real-time control methods. The proposed method is discussed and validated based on the numerical simulation. (author)
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Multiparametric classification links tumor microenvironments with tumor cell phenotype.
Directory of Open Access Journals (Sweden)
Bojana Gligorijevic
2014-11-01
Full Text Available While it has been established that a number of microenvironment components can affect the likelihood of metastasis, the link between microenvironment and tumor cell phenotypes is poorly understood. Here we have examined microenvironment control over two different tumor cell motility phenotypes required for metastasis. By high-resolution multiphoton microscopy of mammary carcinoma in mice, we detected two phenotypes of motile tumor cells, different in locomotion speed. Only slower tumor cells exhibited protrusions with molecular, morphological, and functional characteristics associated with invadopodia. Each region in the primary tumor exhibited either fast- or slow-locomotion. To understand how the tumor microenvironment controls invadopodium formation and tumor cell locomotion, we systematically analyzed components of the microenvironment previously associated with cell invasion and migration. No single microenvironmental property was able to predict the locations of tumor cell phenotypes in the tumor if used in isolation or combined linearly. To solve this, we utilized the support vector machine (SVM algorithm to classify phenotypes in a nonlinear fashion. This approach identified conditions that promoted either motility phenotype. We then demonstrated that varying one of the conditions may change tumor cell behavior only in a context-dependent manner. In addition, to establish the link between phenotypes and cell fates, we photoconverted and monitored the fate of tumor cells in different microenvironments, finding that only tumor cells in the invadopodium-rich microenvironments degraded extracellular matrix (ECM and disseminated. The number of invadopodia positively correlated with degradation, while the inhibiting metalloproteases eliminated degradation and lung metastasis, consistent with a direct link among invadopodia, ECM degradation, and metastasis. We have detected and characterized two phenotypes of motile tumor cells in vivo, which
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Role of serotonergic neurons in the Drosophila larval response to light
Directory of Open Access Journals (Sweden)
Campos Ana
2009-06-01
Full Text Available Abstract Background Drosophila larval locomotion consists of forward peristalsis interrupted by episodes of pausing, turning and exploratory behavior (head swinging. This behavior can be regulated by visual input as seen by light-induced increase in pausing, head swinging and direction change as well as reduction of linear speed that characterizes the larval photophobic response. During 3rd instar stage, Drosophila larvae gradually cease to be repelled by light and are photoneutral by the time they wander in search for a place to undergo metamorphosis. Thus, Drosophila larval photobehavior can be used to study control of locomotion. Results We used targeted neuronal silencing to assess the role of candidate neurons in the regulation of larval photobehavior. Inactivation of DOPA decarboxylase (Ddc neurons increases the response to light throughout larval development, including during the later stages of the 3rd instar characterized by photoneutral response. Increased response to light is characterized by increase in light-induced direction change and associated pause, and reduction of linear movement. Amongst Ddc neurons, suppression of the activity of corazonergic and serotonergic but not dopaminergic neurons increases the photophobic response observed during 3rd instar stage. Silencing of serotonergic neurons does not disrupt larval locomotion or the response to mechanical stimuli. Reduced serotonin (5-hydroxytryptamine, 5-HT signaling within serotonergic neurons recapitulates the results obtained with targeted neuronal silencing. Ablation of serotonergic cells in the ventral nerve cord (VNC does not affect the larval response to light. Similarly, disruption of serotonergic projections that contact the photoreceptor termini in the brain hemispheres does not impact the larval response to light. Finally, pan-neural over-expression of 5-HT1ADro receptors, but not of any other 5-HT receptor subtype, causes a significant decrease in the response to
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Hybrid Locomotive for Energy Savings and Reduced Emissions
2017-08-01
Norfolk Southern Corporation (NS) and Pennsylvania State University tested several different battery systems in hybrid locomotives. Advanced lithium-ion battery technology was the only kind that displayed the capacity to perform in heavy switching or...
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Performance analysis of jump-gliding locomotion for miniature robotics.
Vidyasagar, A; Zufferey, Jean-Christohphe; Floreano, Dario; Kovač, M
2015-03-26
Recent work suggests that jumping locomotion in combination with a gliding phase can be used as an effective mobility principle in robotics. Compared to pure jumping without a gliding phase, the potential benefits of hybrid jump-gliding locomotion includes the ability to extend the distance travelled and reduce the potentially damaging impact forces upon landing. This publication evaluates the performance of jump-gliding locomotion and provides models for the analysis of the relevant dynamics of flight. It also defines a jump-gliding envelope that encompasses the range that can be achieved with jump-gliding robots and that can be used to evaluate the performance and improvement potential of jump-gliding robots. We present first a planar dynamic model and then a simplified closed form model, which allow for quantification of the distance travelled and the impact energy on landing. In order to validate the prediction of these models, we validate the model with experiments using a novel jump-gliding robot, named the 'EPFL jump-glider'. It has a mass of 16.5 g and is able to perform jumps from elevated positions, perform steered gliding flight, land safely and traverse on the ground by repetitive jumping. The experiments indicate that the developed jump-gliding model fits very well with the measured flight data using the EPFL jump-glider, confirming the benefits of jump-gliding locomotion to mobile robotics. The jump-glide envelope considerations indicate that the EPFL jump-glider, when traversing from a 2 m height, reaches 74.3% of optimal jump-gliding distance compared to pure jumping without a gliding phase which only reaches 33.4% of the optimal jump-gliding distance. Methods of further improving flight performance based on the models and inspiration from biological systems are presented providing mechanical design pathways to future jump-gliding robot designs.
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Different performances in static and dynamic imagery and real locomotion. An exploratory trial.
Directory of Open Access Journals (Sweden)
Augusto eFusco
2014-10-01
Full Text Available Motor imagery is a mental representation of an action without its physical execution. Recently, the simultaneous movement of the body has been added to the mental simulation. This refers to dynamic motor imagery (dMI. This study was aimed at analyzing the temporal features for static and dMI in different locomotor conditions (natural walking, NW, light running, LR, lateral walking, LW, backward walking, BW, and whether these performances were more related to all the given conditions or present only in walking. We have been also evaluated the steps performed in the dMI in comparison with the ones performed by real locomotion. Twenty healthy participants (29.3 ± 5.1 y. old were asked to move towards a visualized target located at 10mt. In dMI, no significant temporal differences respect the actual locomotion were found for all the given tasks (NW: p=0.058, LR: p=0.636, BW: p=0.096; LW: p=0,487. Significant temporal differences between static imagery and actual movements were found for LR (p<0.001 and LW (p<0.001, due to an underestimation of time needed to achieve the target in imagined locomotion. Significant differences in terms of number of steps among tasks were found for LW (p<0.001 and BW (p=0.036, whereas neither in NW (p=0.124 nor LR (p=0.391 between dMI and real locomotion.Our results confirmed that motor imagery is a task-dependent process, with walking being temporally closer than other locomotor conditions. Moreover, the time records of dynamic motor imagery are nearer to the ones of actual locomotion respect than the ones of static motor imagery. Keywords: Walking, dynamic motor imagery, human locomotion, chronometry.
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Economic aspects of advanced coal-fired gas turbine locomotives
Liddle, S. G.; Bonzo, B. B.; Houser, B. C.
1983-01-01
Increases in the price of such conventional fuels as Diesel No. 2, as well as advancements in turbine technology, have prompted the present economic assessment of coal-fired gas turbine locomotive engines. A regenerative open cycle internal combustion gas turbine engine may be used, given the development of ceramic hot section components. Otherwise, an external combustion gas turbine engine appears attractive, since although its thermal efficiency is lower than that of a Diesel engine, its fuel is far less expensive. Attention is given to such a powerplant which will use a fluidized bed coal combustor. A life cycle cost analysis yields figures that are approximately half those typical of present locomotive engines.
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The G6 - a heavy-duty six-wheeled shunting locomotive; Dreiachsige Hochleistungsrangierlokomotive G6
Energy Technology Data Exchange (ETDEWEB)
Hildebrandt, Tim [Vossloh Locomotives GmbH, Kiel (Germany). Entwicklung und Standardisierung
2009-03-15
With the three-axle shunter G6, exhibited at Innotrans 2008, the renowned producer of rail vehicles Vossloh Locomotives GmbH marks the beginning of a generational change - not only for three-axle but also for four-axle locomotives. In order to replace the type G765C the G6 has been developed in close cooperation with potential customers. Their request concerning robustness and reliability as well as the equipment options set standards for central driver's cab locomotives in general and lead the way for future four-axle replacements within the Vossloh product family. (orig.)
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2011-09-01
This report presents the results of a locomotive and three loaded hopper car consist traveling at 29 miles per hour colliding with a stationary consist of 35 loaded hopper cars. The details of test instrumentation, LS-DYNA finite element simulation, ...
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Pavlovian conditioning of multiple opioid-like responses in mice
Bryant, Camron D.; Roberts, Kristofer W.; Culbertson, Christopher S.; Le, Alan; Evans, Christopher J.; Fanselow, Michael S.
2009-01-01
Conditional responses in rodents such as locomotion have been reported for drugs of abuse and similar to the placebo response in humans, may be associated with the expectation of reward. We examined several conditional opioid-like responses and the influence of drug expectation on conditioned place preference and concomitant conditional locomotion. Male C57BL/6J mice were conditioned with the selective mu opioid receptor agonist fentanyl (0.2 mg/kg, i.p.) in a novel context and subsequently g...
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Impact of food restriction and cocaine on locomotion in ghrelin- and ghrelin-receptor knockout mice.
Clifford, Shane; Zeckler, Rosie Albarran; Buckman, Sam; Thompson, Jeff; Hart, Nigel; Wellman, Paul J; Smith, Roy G
2011-07-01
Food restriction (FR) augments the behavioral and reinforcing effects of psychomotor stimulants such as cocaine or amphetamine; effects that may be related to the capacity of FR to increase plasma levels of ghrelin (GHR), a 28-amino acid orexigenenic peptide linked to activation of brain dopamine systems. The present study used wild-type (WT) mice or mutant mice sustaining knockout of either GHR [GHR((-/-)) ] or of the growth hormone secretagogue receptor [GHS-R((-/-)) ] and subjected to FR or not to evaluate the role of GHR and GHS-R in cocaine-stimulated locomotion. WT, GHR((-/-)) , and GHS-R((-/-)) mice were either restricted to 60% of baseline caloric intake or allowed to free-feed (FF). Mice were treated with 0, 1.25, 2.5 and 5.0 mg/kg cocaine on separate test days (in random dose order) and forward locomotion was recorded on each drug day for 45 minutes after drug dosing. Food (and water) was available immediately after (but not during) each activity test. For FF mice, there was no interaction between cocaine and GHR status on locomotion. FR-WT mice treated with saline exhibited significant increases in anticipatory locomotion (relative to FF-WT mice), whereas FR-GHS-R((-/-)) mice did not. Cocaine significantly increased locomotion in FR-GHR((-/-)) and FR-GHS-R((-/-)) mice to the levels noted in FR-WT mice. These results suggest that GHS-R activity, but not GHR activity, is required for FR to augment food-associated anticipatory locomotion, but do not support the contention that GHR pathways are required for the capacity of FR to augment the acute effect of cocaine on locomotion. © 2010 The Authors, Addiction Biology © 2010 Society for the Study of Addiction.
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Undulatory locomotion of finite filaments: lessons from Caenorhabditis elegans
International Nuclear Information System (INIS)
Berman, R S; Kenneth, O; Sznitman, J; Leshansky, A M
2013-01-01
Undulatory swimming is a widespread propulsion strategy adopted by many small-scale organisms including various single-cell eukaryotes and nematodes. In this work, we report a comprehensive study of undulatory locomotion of a finite filament using (i) approximate resistive force theory (RFT) assuming a local nature of hydrodynamic interaction between the filament and the surrounding viscous liquid and (ii) particle-based numerical computations taking into account the intra-filament hydrodynamic interaction. Using the ubiquitous model of a propagating sinusoidal waveform, we identify the limit of applicability of the RFT and determine the optimal propulsion gait in terms of (i) swimming distance per period of undulation and (ii) hydrodynamic propulsion efficiency. The occurrence of the optimal swimming gait maximizing hydrodynamic efficiency at finite wavelength in particle-based computations diverges from the prediction of the RFT. To compare the model swimmer powered by sine wave undulations to biological undulatory swimmers, we apply the particle-based approach to study locomotion of the model organism nematode Caenorhabditis elegans using the swimming gait extracted from experiments. The analysis reveals that even though the amplitude and the wavenumber of undulations are similar to those determined for the best performing sinusoidal swimmer, C. elegans overperforms the latter in terms of both displacement and hydrodynamic efficiency. Further comparison with other undulatory microorganisms reveals that many adopt waveforms with characteristics similar to the optimal model swimmer, yet real swimmers still manage to beat the best performing sine-wave swimmer in terms of distance covered per period. Overall our results underline the importance of further waveform optimization, as periodic undulations adopted by C. elegans and other organisms deviate considerably from a simple sine wave. (paper)
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Directory of Open Access Journals (Sweden)
Pankaj Gupta
2014-01-01
Full Text Available Objectives: The objective of the present study was to assess locomotor behavior of adult zebrafish after acute exposure to different pharmacological reference compounds. Materials and Methods: Adult zebrafish of 4-5-months-old were exposed to different concentrations of known reference compounds for 15 min. The test was conducted separately for each drug concentration as well as control. Locomotor activity parameters viz. distance travelled, speed, total mobile time, and total immobile time were recorded for each animal during the exposure period. Results: Out of 11 compounds tested, nine compounds showed decrease in locomotor behavior with significant changes in distance travelled, speed, total mobile time, and total immobile time. Caffeine exhibited biphasic response in locomotion behavior, while scopolamine failed to induce any significant changes. Conclusion: In view of the above findings, these results suggested that exposure of adult zebrafish with different known compounds produce the expected changes in the locomotion behavior; therefore, adult zebrafish can be used an alternative approach for the assessment of new chemical entities for their effect on locomotor behavior.
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The coal-fired gas turbine locomotive - A new look
Liddle, S. G.; Bonzo, B. B.; Purohit, G. P.
1983-01-01
Advances in turbomachine technology and novel methods of coal combustion may have made possible the development of a competitive coal fired gas turbine locomotive engine. Of the combustor, thermodynamic cycle, and turbine combinations presently assessed, an external combustion closed cycle regenerative gas turbine with a fluidized bed coal combustor is judged to be the best suited for locomotive requirements. Some merit is also discerned in external combustion open cycle regenerative systems and internal combustion open cycle regenerative gas turbine systems employing a coal gasifier. The choice of an open or closed cycle depends on the selection of a working fluid and the relative advantages of loop pressurization, with air being the most attractive closed cycle working fluid on the basis of cost.
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The effect of locomotion on the mobilization of minerals from the maternal skeleton.
Directory of Open Access Journals (Sweden)
Wendy R Hood
Full Text Available Bone is a dynamic tissue from which minerals are deposited or withdrawn according to the body's demand. During late pregnancy and lactation, female mammals mobilize mineral from bone to support the ossification of offspring skeleton(s. Conversely, in response to mechanical loading, minerals are deposited in bone enabling it to develop a stronger architecture. Despite their central importance to reproductive performance and skeletal integrity, the interactions between these potentially opposing forces remains poorly understood. It is possible that inter-individual differences in the loading imposed by different forms of locomotion may alter the amount of mineral mobilized during reproduction. Here, the impact of vertical versus horizontal locomotion on bone mobilization was examined during reproduction in the laboratory mouse. The vertical, or climbing, group had access to a 60-cm tower, increasing strain on their appendicular skeleton. The horizontal, or tunnel, group had access to a 100-cm tunnel, which encouraged movements within the horizontal plane. Form of locomotion did not impact the amount of bone females mobilized during reproduction or the amount of mineral females deposited in the litter, but maternal bone architecture differed between groups. The climbing group displayed more trabeculae than the tunnel group, whereas the tunnel group displayed greater cortical bone mineral density mid-shaft. Interestingly, pups born to mothers in the climbing group had a higher concentration of total body calcium at 16 days than pups of mothers in the tunnel group. As maternal total body calcium composition and the amount of calcium invested in the full litter were not different between groups, the difference in the relative calcium content of pups between groups is not suspected to reflect difference in mineral allocation. Future research should consider the impact of maternal activity on the efficiency of offspring skeletal ossification via
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Three-dimensional Locomotion and Drilling Microrobot Using Electromagnetic Actuation System
International Nuclear Information System (INIS)
Li, Girl; Choi, Hyun Chul; Cha, Kyoung Rae; Jeong, Se Mi; Park, Jong Oh; Park, Suk Ho
2011-01-01
In this study, a novel electromagnetic microrobot system with locomotion and drilling functions in three dimensional space was developed. Because of size limitations, the microrobot does not have actuator, battery, and controller. Therefore, an electromagnetic actuation (EMA) system was used to drive the robot. The proposed EMA system consists of three rectangular Helmholtz coil pairs in x-, y- and z-axes and a Maxwell coil pair in the z-axis. The magnetic field generated in the EMA coil system could be controlled by the input current of the EMA coil. Finally, through various experiments, the locomotion and drilling performances of the proposed EMA microrobot system were verified
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Three-dimensional Locomotion and Drilling Microrobot Using Electromagnetic Actuation System
Energy Technology Data Exchange (ETDEWEB)
Li, Girl; Choi, Hyun Chul; Cha, Kyoung Rae; Jeong, Se Mi; Park, Jong Oh; Park, Suk Ho [Chonnam National University, Gwangju (Korea, Republic of)
2011-12-15
In this study, a novel electromagnetic microrobot system with locomotion and drilling functions in three dimensional space was developed. Because of size limitations, the microrobot does not have actuator, battery, and controller. Therefore, an electromagnetic actuation (EMA) system was used to drive the robot. The proposed EMA system consists of three rectangular Helmholtz coil pairs in x-, y- and z-axes and a Maxwell coil pair in the z-axis. The magnetic field generated in the EMA coil system could be controlled by the input current of the EMA coil. Finally, through various experiments, the locomotion and drilling performances of the proposed EMA microrobot system were verified.
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Li, Chen; Fearing, Ronald; Full, Robert
Most animals move in nature in a variety of locomotor modes. For example, to traverse obstacles like dense vegetation, cockroaches can climb over, push across, reorient their bodies to maneuver through slits, or even transition among these modes forming diverse locomotor pathways; if flipped over, they can also self-right using wings or legs to generate body pitch or roll. By contrast, most locomotion studies have focused on a single mode such as running, walking, or jumping, and robots are still far from capable of life-like, robust, multi-modal locomotion in the real world. Here, we present two recent studies using bio-inspired robots, together with new locomotion energy landscapes derived from locomotor-environment interaction physics, to begin to understand the physics of multi-modal locomotion. (1) Our experiment of a cockroach-inspired legged robot traversing grass-like beam obstacles reveals that, with a terradynamically ``streamlined'' rounded body like that of the insect, robot traversal becomes more probable by accessing locomotor pathways that overcome lower potential energy barriers. (2) Our experiment of a cockroach-inspired self-righting robot further suggests that body vibrations are crucial for exploring locomotion energy landscapes and reaching lower barrier pathways. Finally, we posit that our new framework of locomotion energy landscapes holds promise to better understand and predict multi-modal biological and robotic movement.
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Escobar-Corona, Carlos; Torres-Castillo, Sergio; Rodríguez-Torres, Erika Elizabeth; Segura-Alegría, Bertha; Jiménez-Estrada, Ismael; Quiroz-González, Salvador
2017-05-01
This study explored the effect of electroacupuncture stimulation (EA) on alterations in the Hoffman reflex (H-reflex) response and gait locomotion provoked by spinal cord injury (SCI) in the rat. A compression lesion of the spinal cord was evoked by insufflating a Fogarty balloon located in the epidural space at the T8-9 spinal level of adult Wistar male rats (200-250 gr; n=60). In different groups of SCI rats, EA (frequencies: 2, 50 and 100Hz) was applied simultaneously to Huantiao (GB30), Yinmen (BL37), Jizhong (GV6) and Zhiyang (GV9) acupoints from the third post-injury day until the experimental session. At 1, 2, 3 and 4 post-injury weeks, the BBB scores of the SCI group of rats treated with EA at 50Hz showed a gradual but greater enhancement of locomotor activity than the other groups of rats. Unrestrained gait kinematic analysis of SCI rats treated with EA-50Hz stimulation showed a significant improvement in stride duration, length and speed (p<0.05), whereas a discrete recovery of gait locomotion was observed in the other groups of animals. After four post-injury weeks, the H-reflex amplitude and H-reflex/M wave amplitude ratio obtained in SCI rats had a noticeable enhancement (217%) compared to sham rats (n=10). Meanwhile, SCI rats treated with EA at 50Hz manifested a decreased facilitation of the H-reflex amplitude and H/M amplitude ratio (154%) and a reduced frequency-dependent amplitude depression of the H-reflex (66%). In addition, 50 Hz-EA treatment induced a recovery of the presynaptic depression of the Gs-VRP evoked by PBSt conditioning stimulation in the SCI rat (63.2±8.1%; n=9). In concordance with the latter, it could be suggested that 50 Hz-EA stimulation reduced the hyper-excitability of motoneurons and provokes a partial improvement of the locomotive performance and H reflex responses by a possible recovery of presynaptic mechanisms in the spinal cord of experimentally injured rats. Copyright © 2017 Elsevier Inc. All rights reserved.
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Decoding bipedal locomotion from the rat sensorimotor cortex
Rigosa, J.; Panarese, A.; Dominici, N.; Friedli, L.; van den Brand, R.; Carpaneto, J.; DiGiovanna, J.; Courtine, G.; Micera, S.
2015-01-01
Objective. Decoding forelimb movements from the firing activity of cortical neurons has been interfaced with robotic and prosthetic systems to replace lost upper limb functions in humans. Despite the potential of this approach to improve locomotion and facilitate gait rehabilitation, decoding lower
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The effects of ketamine on sexual behavior, anxiety, and locomotion in female rats.
Guarraci, Fay A; Gonzalez, Chantal M F; Lucero, Devon; Womble, Paige D; Abdel-Rahim, Heba; DeVore, Jennie; Kunkel, Marcela Nicole; Quadlander, Emma; Stinnett, Morgan; Boyette-Davis, Jessica
2018-02-01
The present study characterized the effects of ketamine on sexual behavior and anxiety in female rats. In Experiment 1, female subjects received an injection of ketamine (10.0mg/kg) or saline 30min prior to a sexual partner-preference test during which each female subject was given the opportunity to interact with a female stimulus or a sexually vigorous male stimulus. Immediately afterwards, female subjects were tested for locomotion in an open field test. Ketamine-treated subjects spent significantly more time with the male stimulus than saline-treated subjects. No other measures of mating behavior (i.e., paced mating behavior, lordosis) were affected by ketamine. Ketamine also had no effect on locomotion. In Experiment 2, female subjects received an injection of ketamine (10.0mg/kg), or saline daily for 10days to investigate the possibility that sexual dysfunction emerges only after repeated exposure. Similar to the results of Experiment 1, ketamine-treated subjects spent significantly more time with the male stimulus than saline-treated subjects. Chronic ketamine treatment also decreased the likelihood of leaving the male after mounts, without affecting any other measures of sexual behavior. Chronic ketamine had no effect on locomotion. In Experiment 3, female subjects received an injection of ketamine (10.0mg/kg) or saline and were tested for anxiety in an elevated plus maze test and for locomotion in an open field test. Acute ketamine had no effect on anxiety or locomotion. In Experiment 4, female subjects received an injection of ketamine (10.0mg/kg) or saline daily for 10days to investigate the possibility that anxiety emerges only after repeated exposure. Chronic ketamine exposure had no effect on any measure of anxiety. However, chronic ketamine exposure increased locomotion. The results from these experiments indicate that unlike other medications prescribed for depression, neither acute nor chronic ketamine treatment causes anxiety or disruption of
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DuBois, A B; Cavagna, G A; Fox, R S
1976-02-01
1. Pressure previously measured on the body surface of swimming bluefish were resolved into their backward vectorial components to allow calculation of profile drag. It was 0.18 kg at a speed of 1.8 m/sec. Tangential drag was calculated as if for a thin plate of an area equal to that of the fish. It was 0.08 kg at 1.8 m/sec. Net drag, 0.26 kg, was the sum of profile and tangential drag. 2. Thrust and drag also were calculated from the changes of acceleration measured during steady swimming, assuming that thrust took place only during the acceleration phase, whereas drag occurred during both acceleration and deceleration. This drag was 0.08 kg at a speed of 1.1 m/sec. It is compatible with the drag of 0.26 at 1.8 m/sec calculated from profile and tangential drag provided drag varies as the square of velocity. 3. The force required to produced maximal acceleration was measured during a scare. It was calculated to be 6.9 kg at a peak acceleration of 3 g. 4. The compression strength of th vertebrae was found to be approximately 20 kg per cm2, or roughly three times the force encountered during maximal acceleration. This safety factor of 3 would be reduced when the back was curved, or if opposing groups of muscles were under tension. 5. The finding that a bluefish can accelerate at 3 g and that the vertebral column is strongg enough to withstand this force indicates that the muscles and body structure of a bluefish would be able to withstand the force of gravity if the fish were otherwise equipped for terrestrial life. This fish may have evolved these strengths simultaneously with land animals. It is speculated that other fish may have evolved some degree of strength to overcome inertia and drag during aquatic locomotion, and this evolution may have been a prelude to terrestrial locomotion.
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A survey report for the biped locomotion model under external force
International Nuclear Information System (INIS)
Kato, Ichiro; Takanishi, Atsuo; Kume, Etsuo.
1993-10-01
A mechanical design study of biped locomotion robots is being performed at JAERI within the scope of the Human Acts Simulation Program (HASP). The design study at JAERI is of an arbitrarily mobile robot for inspection of nuclear facilities. We have developed the simulation software which has capability of obtaining several types of stable motions for straight walking in terms of design tools. In addition, we are studying more complex walking patterns such as turning. However, in order to realize the robustness of walking, it is also necessary for the robot to have a capability of walking under external force as a disturbance which is caused by touching an object and so on. A survey has been performed for collecting useful information from already existing biped locomotion robots. This is a survey report for the biped locomotion model under external force: the WL-12RIII/IV designed and developed at Waseda University. This report includes the machine model, control system, control method and results of walking experiments. (author)
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DEFF Research Database (Denmark)
Azevedo, Christine; Poignet, Philippe; Espiau, Bernard
2004-01-01
of postural and walking control; use of evolutive optimization objectives; on-line event handling and environment adaptation and anticipation. This leads to the synthesis of an original control scheme based on non-linear model predictive control: Trajectory Free NMPC. The movement is specified implicitly......This paper concerns the simultaneous synthesis and control of walking gaits for biped robots. The goal is to propose an adaptable and reactive control law for two-legged machines. The problem is addressed with human locomotion as a reference. The starting point of our work is an analysis of human...... walking from descriptive (biomechanics) as well as explicative (neuroscience and physiology) points of view, the objective being to stress the relevant elements for the approach of robot control. The adopted principles are then: no joint trajectory tracking; explicit distinction and integration...
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Trading of locomotive NO(sub x) emissions : a potential success story
International Nuclear Information System (INIS)
Gaines, L. L.; Biess, L. J.; Diedrich, G. K.
2002-01-01
New US Environmental Protection Agency regulations are forcing locomotive manufacturers and railroads to reduce pollutant emissions from locomotive operation. All new locomotives must meet strict standards when they are built, and existing locomotives must comply when they are rebuilt. Emissions can be reduced either by adjusting combustion parameters, which incurs a fuel penalty, or by turning the diesel engine off when the train is not moving and would otherwise be idling. The latter reduces fuel consumption, but requires installation of a device-such as an auxiliary power unit (APU)-to ensure that the engine can be restarted in cold weather and to supply hotel loads for the crew. Without a financial incentive, capital-short railroads will opt to achieve compliance in the least costly way. However, if they have the option of selling emissions credits from reducing emissions below regulated levels, it would be in their best interest to install additional equipment to minimize emissions. These credits could be purchased by businesses with compliance costs greater than either the cost of the credits or the fines they would have had to pay for non-compliance. The result is a financial benefit for both parties, and a net reduction in emissions, because the seller is emitting below regulated levels, and the buyer is no longer non-compliant. This paper describes a railroad as the potential seller, unable to consummate trades because of uncertainty in the regulatory environment, and estimates financial benefits and reductions in emissions and energy use that could be achieved if the barrier could be removed
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Grossi, Bruno; Iriarte-Díaz, José; Larach, Omar; Canals, Mauricio; Vásquez, Rodrigo A
2014-01-01
Birds still share many traits with their dinosaur ancestors, making them the best living group to reconstruct certain aspects of non-avian theropod biology. Bipedal, digitigrade locomotion and parasagittal hindlimb movement are some of those inherited traits. Living birds, however, maintain an unusually crouched hindlimb posture and locomotion powered by knee flexion, in contrast to the inferred primitive condition of non-avian theropods: more upright posture and limb movement powered by femur retraction. Such functional differences, which are associated with a gradual, anterior shift of the centre of mass in theropods along the bird line, make the use of extant birds to study non-avian theropod locomotion problematic. Here we show that, by experimentally manipulating the location of the centre of mass in living birds, it is possible to recreate limb posture and kinematics inferred for extinct bipedal dinosaurs. Chickens raised wearing artificial tails, and consequently with more posteriorly located centre of mass, showed a more vertical orientation of the femur during standing and increased femoral displacement during locomotion. Our results support the hypothesis that gradual changes in the location of the centre of mass resulted in more crouched hindlimb postures and a shift from hip-driven to knee-driven limb movements through theropod evolution. This study suggests that, through careful experimental manipulations during the growth phase of ontogeny, extant birds can potentially be used to gain important insights into previously unexplored aspects of bipedal non-avian theropod locomotion.
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Directory of Open Access Journals (Sweden)
Bruno Grossi
Full Text Available Birds still share many traits with their dinosaur ancestors, making them the best living group to reconstruct certain aspects of non-avian theropod biology. Bipedal, digitigrade locomotion and parasagittal hindlimb movement are some of those inherited traits. Living birds, however, maintain an unusually crouched hindlimb posture and locomotion powered by knee flexion, in contrast to the inferred primitive condition of non-avian theropods: more upright posture and limb movement powered by femur retraction. Such functional differences, which are associated with a gradual, anterior shift of the centre of mass in theropods along the bird line, make the use of extant birds to study non-avian theropod locomotion problematic. Here we show that, by experimentally manipulating the location of the centre of mass in living birds, it is possible to recreate limb posture and kinematics inferred for extinct bipedal dinosaurs. Chickens raised wearing artificial tails, and consequently with more posteriorly located centre of mass, showed a more vertical orientation of the femur during standing and increased femoral displacement during locomotion. Our results support the hypothesis that gradual changes in the location of the centre of mass resulted in more crouched hindlimb postures and a shift from hip-driven to knee-driven limb movements through theropod evolution. This study suggests that, through careful experimental manipulations during the growth phase of ontogeny, extant birds can potentially be used to gain important insights into previously unexplored aspects of bipedal non-avian theropod locomotion.
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Test requirements of locomotive fuel tank blunt impact tests
2013-10-15
The Federal Railroad Administrations Office of Research : and Development is conducting research into passenger : locomotive fuel tank crashworthiness. A series of impact tests : are planned to measure fuel tank deformation under two types : of dy...
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Noninvasive Multimodal Imaging to Predict Recovery of Locomotion after Extended Limb Ischemia.
Directory of Open Access Journals (Sweden)
Jason S Radowsky
Full Text Available Acute limb ischemia is a common cause of morbidity and mortality following trauma both in civilian centers and in combat related injuries. Rapid determination of tissue viability and surgical restoration of blood flow are desirable, but not always possible. We sought to characterize the response to increasing periods of hind limb ischemia in a porcine model such that we could define a period of critical ischemia (the point after which irreversible neuromuscular injury occurs, evaluate non-invasive methods for characterizing that ischemia, and establish a model by which we could predict whether or not the animal's locomotion would return to baselines levels post-operatively. Ischemia was induced by either application of a pneumatic tourniquet or vessel occlusion (performed by clamping the proximal iliac artery and vein at the level of the inguinal ligament. The limb was monitored for the duration of the procedure with both 3-charge coupled device (3CCD and infrared (IR imaging for tissue oxygenation and perfusion, respectively. The experimental arms of this model are effective at inducing histologically evident muscle injury with some evidence of expected secondary organ damage, particularly in animals with longer ischemia times. Noninvasive imaging data shows excellent correlation with post-operative functional outcomes, validating its use as a non-invasive means of viability assessment, and directly monitors post-occlusive reactive hyperemia. A classification model, based on partial-least squares discriminant analysis (PLSDA of imaging variables only, successfully classified animals as "returned to normal locomotion" or "did not return to normal locomotion" with 87.5% sensitivity and 66.7% specificity after cross-validation. PLSDA models generated from non-imaging data were not as accurate (AUC of 0.53 compared the PLSDA model generated from only imaging data (AUC of 0.76. With some modification, this limb ischemia model could also serve as a
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Modelling of dynamically stable AR-601M robot locomotion in Simulink
Directory of Open Access Journals (Sweden)
Khusainov Ramil
2016-01-01
Full Text Available Humanoid robots will gradually play an important role in our daily lives. Currently, research on anthropomorphic robots and biped locomotion is one of the most important problems in the field of mobile robotics, and the development of reliable control algorithms for them is a challenging task. In this research two algorithms for stable walking of Russian anthropomorphic robot AR-601M with 41 Degrees of Freedom (DoF are investigated. To achieve a human-like dynamically stable locomotion 6 DoF in each robot leg are controlled with Virtual Height Inverted Pendulum and Preview control methods.
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Paper-based Pneumatic Locomotive Robot with Sticky Actuator
Directory of Open Access Journals (Sweden)
Du Xiaohan
2016-01-01
Full Text Available Demands for small-scale and low-cost robots have witnessed a great increase in recent years [1–5]. This paper introduces the design and fabrication of a novel, simple, low-cost and designer-friendly locomotive robot. The materials and tools to build the robot originate from everyday life. The robot is pneumatically powered and manually controlled by simply pumping and vacuuming the syringe repeatedly, which realizes reliable locomotion by folding and opening of the planes. In order to realize this complicated motion, a “3D Sticky Actuator” is developed. The motion and force analysis of actuator are then modelled by the numerical method to develop the relations between design parameters. This suggests a systematic and user interactive way of manufacturing various shapes of the actuator, depending on user-defined road condition (e.g. obstacles and slopes and other constraints. One key advantage of the paper-based robot is suggested by its high feasibility.
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NKT Cell Responses to B Cell Lymphoma.
Li, Junxin; Sun, Wenji; Subrahmanyam, Priyanka B; Page, Carly; Younger, Kenisha M; Tiper, Irina V; Frieman, Matthew; Kimball, Amy S; Webb, Tonya J
2014-06-01
Natural killer T (NKT) cells are a unique subset of CD1d-restricted T lymphocytes that express characteristics of both T cells and natural killer cells. NKT cells mediate tumor immune-surveillance; however, NKT cells are numerically reduced and functionally impaired in lymphoma patients. Many hematologic malignancies express CD1d molecules and co-stimulatory proteins needed to induce anti-tumor immunity by NKT cells, yet most tumors are poorly immunogenic. In this study, we sought to investigate NKT cell responses to B cell lymphoma. In the presence of exogenous antigen, both mouse and human NKT cell lines produce cytokines following stimulation by B cell lymphoma lines. NKT cell populations were examined ex vivo in mouse models of spontaneous B cell lymphoma, and it was found that during early stages, NKT cell responses were enhanced in lymphoma-bearing animals compared to disease-free animals. In contrast, in lymphoma-bearing animals with splenomegaly and lymphadenopathy, NKT cells were functionally impaired. In a mouse model of blastoid variant mantle cell lymphoma, treatment of tumor-bearing mice with a potent NKT cell agonist, α-galactosylceramide (α-GalCer), resulted in a significant decrease in disease pathology. Ex vivo studies demonstrated that NKT cells from α-GalCer treated mice produced IFN-γ following α-GalCer restimulation, unlike NKT cells from vehicle-control treated mice. These data demonstrate an important role for NKT cells in the immune response to an aggressive hematologic malignancy like mantle cell lymphoma.
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Locomotion training of legged robots using hybrid machine learning techniques
Simon, William E.; Doerschuk, Peggy I.; Zhang, Wen-Ran; Li, Andrew L.
1995-01-01
In this study artificial neural networks and fuzzy logic are used to control the jumping behavior of a three-link uniped robot. The biped locomotion control problem is an increment of the uniped locomotion control. Study of legged locomotion dynamics indicates that a hierarchical controller is required to control the behavior of a legged robot. A structured control strategy is suggested which includes navigator, motion planner, biped coordinator and uniped controllers. A three-link uniped robot simulation is developed to be used as the plant. Neurocontrollers were trained both online and offline. In the case of on-line training, a reinforcement learning technique was used to train the neurocontroller to make the robot jump to a specified height. After several hundred iterations of training, the plant output achieved an accuracy of 7.4%. However, when jump distance and body angular momentum were also included in the control objectives, training time became impractically long. In the case of off-line training, a three-layered backpropagation (BP) network was first used with three inputs, three outputs and 15 to 40 hidden nodes. Pre-generated data were presented to the network with a learning rate as low as 0.003 in order to reach convergence. The low learning rate required for convergence resulted in a very slow training process which took weeks to learn 460 examples. After training, performance of the neurocontroller was rather poor. Consequently, the BP network was replaced by a Cerebeller Model Articulation Controller (CMAC) network. Subsequent experiments described in this document show that the CMAC network is more suitable to the solution of uniped locomotion control problems in terms of both learning efficiency and performance. A new approach is introduced in this report, viz., a self-organizing multiagent cerebeller model for fuzzy-neural control of uniped locomotion is suggested to improve training efficiency. This is currently being evaluated for a possible
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Blanco-Calvo, Eduardo; Rivera, Patricia; Arrabal, Sergio; Vargas, Antonio; Pavón, Francisco Javier; Serrano, Antonia; Castilla-Ortega, Estela; Galeano, Pablo; Rubio, Leticia; Suárez, Juan; Rodriguez de Fonseca, Fernando
2014-01-01
Addiction to major drugs of abuse, such as cocaine, has recently been linked to alterations in adult neurogenesis in the hippocampus. The endogenous cannabinoid system modulates this proliferative response as demonstrated by the finding that pharmacological activation/blockade of cannabinoid CB1 and CB2 receptors not only modulates neurogenesis but also modulates cell death in the brain. In the present study, we evaluated whether the endogenous cannabinoid system affects cocaine-induced alterations in cell proliferation. To this end, we examined whether pharmacological blockade of either CB1 (Rimonabant, 3 mg/kg) or CB2 receptors (AM630, 3 mg/kg) would affect cell proliferation [the cells were labeled with 5-bromo-2′-deoxyuridine (BrdU)] in the subventricular zone (SVZ) of the lateral ventricle and the dentate subgranular zone (SGZ). Additionally, we measured cell apoptosis (as monitored by the expression of cleaved caspase-3) and glial activation [by analyzing the expression of glial fibrillary acidic protein (GFAP) and Iba-1] in the striatum and hippocampus during acute and repeated (4 days) cocaine administration (20 mg/kg). The results showed that acute cocaine exposure decreased the number of BrdU-immunoreactive (ir) cells in the SVZ and SGZ. In contrast, repeated cocaine exposure reduced the number of BrdU-ir cells only in the SVZ. Both acute and repeated cocaine exposure increased the number of cleaved caspase-3-, GFAP- and Iba1-ir cells in the hippocampus, and this effect was counteracted by AM630 or Rimonabant, which increased the number of BrdU-, GFAP-, and Iba1-ir cells in the hippocampus. These results indicate that the changes in neurogenic, apoptotic and gliotic processes that were produced by repeated cocaine administration were normalized by pharmacological blockade of CB1 and CB2. The restorative effects of cannabinoid receptor blockade on hippocampal cell proliferation were associated with the prevention of the induction of conditioned
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Boyer, Frédéric; Porez, Mathieu; Morsli, Ferhat; Morel, Yannick
2017-08-01
In animal locomotion, either in fish or flying insects, the use of flexible terminal organs or appendages greatly improves the performance of locomotion (thrust and lift). In this article, we propose a general unified framework for modeling and simulating the (bio-inspired) locomotion of robots using soft organs. The proposed approach is based on the model of Mobile Multibody Systems (MMS). The distributed flexibilities are modeled according to two major approaches: the Floating Frame Approach (FFA) and the Geometrically Exact Approach (GEA). Encompassing these two approaches in the Newton-Euler modeling formalism of robotics, this article proposes a unique modeling framework suited to the fast numerical integration of the dynamics of a MMS in both the FFA and the GEA. This general framework is applied on two illustrative examples drawn from bio-inspired locomotion: the passive swimming in von Karman Vortex Street, and the hovering flight with flexible flapping wings.
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Geckos significantly alter foot orientation to facilitate adhesion during downhill locomotion.
Birn-Jeffery, Aleksandra V; Higham, Timothy E
2014-10-01
Geckos employ their adhesive system when moving up an incline, but the directionality of the system may limit function on downhill surfaces. Here, we use a generalist gecko to test whether limb modulation occurs on downhill slopes to allow geckos to take advantage of their adhesive system. We examined three-dimensional limb kinematics for geckos moving up and down a 45° slope. Remarkably, the hind limbs were rotated posteriorly on declines, resulting in digit III of the pes facing a more posterior direction (opposite to the direction of travel). No significant changes in limb orientation were found in any other condition. This pes rotation leads to a dramatic shift in foot function that facilitates the use of the adhesive system as a brake/stabilizer during downhill locomotion and, although this rotation is not unique to geckos, it is significant for the deployment of adhesion. Adhesion is not just advantageous for uphill locomotion but can be employed to help deal with the effects of gravity during downhill locomotion, highlighting the incredible multi-functionality of this key innovation. © 2014 The Author(s) Published by the Royal Society. All rights reserved.
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Peristaltic Wave Locomotion and Shape Morphing with a Millipede Inspired System
Spinello, Davide; Fattahi, Javad S.
2017-08-01
We present the mechanical model of a bio-inspired deformable system, modeled as a Timoshenko beam, which is coupled to a substrate by a system of distributed elements. The locomotion action is inspired by the coordinated motion of coupling elements that mimic the legs of millipedes and centipedes, whose leg-to-ground contact can be described as a peristaltic displacement wave. The multi-legged structure is crucial in providing redundancy and robustness in the interaction with unstructured environments and terrains. A Lagrangian approach is used to derive the governing equations of the system that couple locomotion and shape morphing. Features and limitations of the model are illustrated with numerical simulations.
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A light-weight, yet powerful diesel locomotive from Vossloh
Energy Technology Data Exchange (ETDEWEB)
Marti, Mariano [Vossloh Rail Vehicles, Albuixech/Valencia (Spain)
2013-05-15
The EUROLIGHT is an eight-wheeled diesel-electric locomotive developed by Vossloh Rail Vehicles for interoperable rail traffic. With its low axle load of less than 20 tonnes, it can be deployed flexibly on both main lines and secondary ones.
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Unifying Rules for Aquatic Locomotion
Saadat, Mehdi; Domel, August; di Santo, Valentina; Lauder, George; Haj-Hariri, Hossein
2016-11-01
Strouhal number, St (=fA/U) , a scaling parameter that relates speed, U, to the tail-beat frequency, f, and tail-beat amplitude, A, has been used many times to describe animal locomotion. It has been observed that swimming animals cruise at 0.2 fish-like swimmer, we show that when cruising at minimum hydrodynamic input power, St is predetermined, and is only a function of the shape, i.e. drag coefficient and area. The narrow range for St, 0.2-0.4, has been previously associated with optimal propulsive efficiency. However, St alone is insufficient for deciding optimal motion. We show that hydrodynamic input power (energy usage to propel over a unit distance) in fish locomotion is minimized at all cruising speeds when A* (= A/L), a scaling parameter that relates tail-beat amplitude, A, to the length of the swimmer, L, is constrained to a narrow range of 0.15-0.25. Our analysis proposes a constraint on A*, in addition to the previously found constraint on St, to fully describe the optimal swimming gait for fast swimmers. A survey of kinematics for dolphin, as well as new data for trout, show that the range of St and A* for fast swimmers indeed are constrained to 0.2-0.4 and 0.15-0.25, respectively. Our findings provide physical explanation as to why fast aquatic swimmers cruise with relatively constant tail-beat amplitude at approximately 20 percent of body length, while their swimming speed is linearly correlated with their tail-beat frequency.
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Pavlovian conditioning of multiple opioid-like responses in mice.
Bryant, Camron D; Roberts, Kristofer W; Culbertson, Christopher S; Le, Alan; Evans, Christopher J; Fanselow, Michael S
2009-07-01
Conditional responses in rodents such as locomotion have been reported for drugs of abuse and similar to the placebo response in humans, may be associated with the expectation of reward. We examined several conditional opioid-like responses and the influence of drug expectation on conditioned place preference and concomitant conditional locomotion. Male C57BL/6J mice were conditioned with the selective mu opioid receptor agonist fentanyl (0.2mg/kg, i.p.) in a novel context and subsequently given a vehicle injection. In separate experiments, locomotor activity, Straub tail, hot plate sensitivity, and conditioned place preference (CPP) were measured. Mice exhibited multiple conditional opioid-like responses including conditional hyperlocomotion, a conditional pattern of opioid-like locomotion, Straub tail, analgesia, and place preference. Modulating drug expectation via administration of fentanyl to "demonstrator" mice in the home cage did not affect the expression of conditioned place preference or the concomitant locomotor activity in "observer" mice. In summary, Pavlovian conditioning of an opioid in a novel context induced multiple conditional opioid-like behaviors and provides a model for studying the neurobiological mechanisms of the placebo response in mice.
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Highlighting the harmonic regime generated by electric locomotives equipped with DC motors
Baciu, I.; Cunţan, C. D.
2018-01-01
The paper presents the results of measurements made using the C.A. 8334 power quality analyzer on an electric locomotive equipped with DC motors. We carried out determinations of the current-voltage regime using a locomotive motor. The harmonic regime of the other motors being identical to the analysed one, we could easily deduce the effects caused by the entire locomotive. The data measured with the analyzer were firstly transferred into a computer system using the Qualistar software, followed by data processing in Excel, enabling therefore a graphical representation of the characteristic parameters of power quality. Based on the acquired data, we determined the power factor, as well as the active, reactive and apparent power. The measurements revealed high values of the current harmonics, fact that required some measures to be taken for reducing the values of these harmonics. For this, we ran a simulation using the PSCAD/EMTDC software, by introducing LC filters in tune with the harmonic frequencies. The result was a significant reduction in the harmonic regime, either in the harmonics values or the power factor and reactive power.
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Directory of Open Access Journals (Sweden)
Jose eGonzalez-Vargas
2015-09-01
Full Text Available Humans can efficiently walk across a large variety of terrains and locomotion conditions with little or no mental effort. It has been hypothesized that the nervous system simplifies neuromuscular control by using muscle synergies, thus organizing multi-muscle activity into a small number of coordinative co-activation modules. In the present study we investigated how muscle modularity is structured across a large repertoire of locomotion conditions including five different speeds and five different ground elevations. For this we have used the non-negative matrix factorization technique in order to explain EMG experimental data with a low-dimensional set of four motor components. In this context each motor components is composed of a non-negative factor and the associated muscle weightings. Furthermore, we have investigated if the proposed descriptive analysis of muscle modularity could be translated into a predictive model that could: 1 Estimate how motor components modulate across locomotion speeds and ground elevations. This implies not only estimating the non-negative factors temporal characteristics, but also the associated muscle weighting variations. 2 Estimate how the resulting muscle excitations modulate across novel locomotion conditions and subjects.The results showed three major distinctive features of muscle modularity: 1 the number of motor components was preserved across all locomotion conditions, 2 the non-negative factors were consistent in shape and timing across all locomotion conditions, and 3 the muscle weightings were modulated as distinctive functions of locomotion speed and ground elevation. Results also showed that the developed predictive model was able to reproduce well the muscle modularity of un-modeled data, i.e. novel subjects and conditions. Muscle weightings were reconstructed with a cross-correlation factor greater than 70% and a root mean square error less than 0.10. Furthermore, the generated muscle excitations
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Hamlin, Marvin; Traughber, Terence; Reinkensmeyer, David J; de Leon, Ray D
2015-05-15
Providing weight support facilitates locomotion in spinal cord injured animals. To control weight support, robotic systems have been developed for treadmill stepping and more recently for overground walking. We developed a novel device, the body weight supported ambulatory rodent trainer (i.e. BART). It has a small pneumatic cylinder that moves along a linear track above the rat. When air is supplied to the cylinder, the rats are lifted as they perform overground walking. We tested the BART device in rats that received a moderate spinal cord contusion injury and in normal rats. Locomotor training with the BART device was not performed. All of the rats learned to walk in the BART device. In the contused rats, significantly greater paw dragging and dorsal stepping occurred in the hindlimbs compared to normal. Providing weight support significantly raised hip position and significantly reduced locomotor deficits. Hindlimb stepping was tightly coupled to forelimb stepping but only when the contused rats stepped without weight support. Three weeks after the contused rats received a complete spinal cord transection, significantly fewer hindlimb steps were performed. Relative to rodent robotic systems, the BART device is a simpler system for studying overground locomotion. The BART device lacks sophisticated control and sensing capability, but it can be assembled relatively easily and cheaply. These findings suggest that the BART device is a useful tool for assessing quadrupedal, overground locomotion which is a more natural form of locomotion relative to treadmill locomotion. Published by Elsevier B.V.
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Harmonic analysis of electric locomotive and traction power system based on wavelet singular entropy
Dun, Xiaohong
2018-05-01
With the rapid development of high-speed railway and heavy-haul transport, the locomotive and traction power system has become the main harmonic source of China's power grid. In response to this phenomenon, the system's power quality issues need timely monitoring, assessment and governance. Wavelet singular entropy is an organic combination of wavelet transform, singular value decomposition and information entropy theory, which combines the unique advantages of the three in signal processing: the time-frequency local characteristics of wavelet transform, singular value decomposition explores the basic modal characteristics of data, and information entropy quantifies the feature data. Based on the theory of singular value decomposition, the wavelet coefficient matrix after wavelet transform is decomposed into a series of singular values that can reflect the basic characteristics of the original coefficient matrix. Then the statistical properties of information entropy are used to analyze the uncertainty of the singular value set, so as to give a definite measurement of the complexity of the original signal. It can be said that wavelet entropy has a good application prospect in fault detection, classification and protection. The mat lab simulation shows that the use of wavelet singular entropy on the locomotive and traction power system harmonic analysis is effective.
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MTU locomotive drive systems for EU emissions stage IIIB
Energy Technology Data Exchange (ETDEWEB)
Wintruff, Ingo [MTU Friedrichshafen GmbH, Friedrichshafen (Germany)
2011-05-15
Emissions limits for diesel locomotives within the European Union are regulated by EU Non-road Directive 97/68/EC which places restrictions on the pollutants NOx, particulate, CO and HC. MTU has developed suitable diesel engines for EU Emissions stage IIIB. (orig.)
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Performance requirements for locomotive braking systems
CSIR Research Space (South Africa)
Vermaak, P
2000-02-01
Full Text Available operated “Neutral Brake”. This brake may become active immediately or after a certain time delay when the controller is placed in the neutral position or moved into the neutral position by the “dead-man’s device”. Because this brake will interfere... in testing emergency brake systems due to the inherent braking action of the service brakes and/or locomotive controllers; • Potential problems limitations to braking effort associated with the prime movers and/or hydraulic systems on hydrostatically...
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Millipede-inspired locomotion through novel U-shaped piezoelectric motors
International Nuclear Information System (INIS)
Avirovik, Dragan; Butenhoff, Bryan; Priya, Shashank
2014-01-01
We report a novel piezoelectric motor that operates at a resonance frequency of 144 Hz, much lower than that of conventional ultrasonic motors, and meets the displacement and gait requirements for designing the locomotion mechanism of a millipede-inspired robot (millibot). The motor structure consists of two piezoelectric bimorphs arranged in a U-shaped configuration. Using the first bending mode for both the piezoelectric bimorphs an elliptical motion was obtained at the tip which led to the successful implementation of millipede inspired locomotion. At an input voltage of 70.7 V rms , the piezoelectric motor operating at resonance frequency was able to generate torque of 0.03 mN m, mechanical power of 0.84 mW and maximum velocity of 62 rad s −1 . Detailed discussion is provided about the principle of operation of the millibot. (technical note)
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RESEARCH OF IMPACT OF THE LOADING ON ENDURANCE OF THE FREIGHT LOCOMOTIVE ENGINES
Directory of Open Access Journals (Sweden)
Sergejus LEBEDEVAS
2015-12-01
Full Text Available The publication reflects the research results of the rationalization of the rolling stock use of JSC LG Lithuanian railways to increase the reliability indicators of the freight diesel locomotive exploitation reliability. The comparative evaluation of the exploited freight diesel locomotive work duration, according to the technical documentation, by using comparative test results and indirect diesel reliability criteria approved in practice. An algorithm of work duration forecasting methodology has been created, as well as a programme complex of mathematic modelling. The differences of the results indicated in the experiment and modelled by computer do not exceed 5 ÷ 7%. The proposed and described methodology of the diesel locomotive exploitation load cycle dynamic indicator reduction, by the use of which the following is achieved: increase of the diesel work duration by 7÷10%, reduction of fuel consumption up to 10%, reduction of the load cycle dynamic indicators (increasing the fatigue stress of parts and units of the diesel by 15÷20%.
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Biomechanical Analysis of Treadmill Locomotion on the International Space Station
De Witt, J. K.; Fincke, R. S.; Guilliams, M. E.; Ploutz-Snyder, L. L.
2011-01-01
Treadmill locomotion exercise is an important aspect of ISS exercise countermeasures. It is widely believed that an optimized treadmill exercise protocol could offer benefits to cardiovascular and bone health. If training heart rate is high enough, treadmill exercise is expected to lead to improvements in aerobic fitness. If impact or bone loading forces are high enough, treadmill exercise may be expected to contribute to improved bone outcomes. Ground-based research suggests that joint loads increase with increased running speed. However, it is unknown if increases in locomotion speed results in similar increases in joint loads in microgravity. Although data exist regarding the biomechanics of running and walking in microgravity, a majority were collected during parabolic flight or during investigations utilizing a microgravity analog. The Second Generation Treadmill (T2) has been in use on the International Space Station (ISS) and records the ground reaction forces (GRF) produced by crewmembers during exercise. Biomechanical analyses will aid in understanding potential differences in typical gait motion and allow for modeling of the human body to determine joint and muscle forces during exercise. By understanding these mechanisms, more appropriate exercise prescriptions can be developed that address deficiencies. The objective of this evaluation is to collect biomechanical data from crewmembers during treadmill exercise prior to and during flight. The goal is to determine if locomotive biomechanics differ between normal and microgravity environments and to determine how combinations of subject load and speed influence joint loading during in-flight treadmill exercise. Further, the data will be used to characterize any differences in specific bone and muscle loading during locomotion in these two gravitational conditions. This project maps to the HRP Integrated Research Plan risks including Risk of Bone Fracture (Gap B15), Risk of Early Onset Osteoporosis Due to
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Heart rate profiles and energy cost of locomotion during cross-country skiing races.
Mognoni, P; Rossi, G; Gastaldelli, F; Canclini, A; Cotelli, F
2001-07-01
The purpose of this study was to compare heart rate responses and speed in two cross-country skiing races, which were run by seven male and seven female subjects by using classic and free style. Heart rates and skiing velocities were analyzed over flat, uphill and downhill sections, which were run from one to three times. Heart rates were higher in uphill sections than in flat sections; a steady-state heart rate was never reached in the downhill section. When the same uphill section was repeated, the heart rate tended to increase but the speed to decrease. Oxygen uptake (VO2) was calculated from heart rate:VO2 ratio, measured during uphill walking with the aid of poles. The mean (SD) energy cost of locomotion (i.e., the ratio between net VO2 and speed) was 162.1 (9.4) ml.km(-1).kg(-1) and 147.7 (7.1) ml.km(-1).kg(-1) when male subjects ran the flat section after first downhill by using classic and free style, respectively. Females had lower values for VO2 and speed, but similar energy costs. In general, the variability of the energy cost of locomotion in skiers of a similar competitive level is of the same order as that found in uphill walking on a treadmill.
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Review of codes, standards, and regulations for natural gas locomotives.
2014-06-01
This report identified, collected, and summarized relevant international codes, standards, and regulations with potential : applicability to the use of natural gas as a locomotive fuel. Few international or country-specific codes, standards, and regu...
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The Perceived Naturalness of Virtual Walking Speeds during WIP Locomotion
DEFF Research Database (Denmark)
Nilsson, Niels Chr.; Serafin, Stefania; Nordahl, Rolf
2016-01-01
It is well established that individuals tend to underestimate visually presented walking speeds when relying on treadmills for virtual walking. However, prior to the present studies this perceptual distortion had not been observed in relation to Walking-in-Place (WIP) locomotion, and a number...... to how gait cycle characteristics, visual display properties, and methodological differences affect speed underestimation during treadmill and WIP locomotion. The studies suggested the following: A significant main effect was found for step frequency; both display and geometric field of view were...... inversely proportional to the degree of underestimation; varying degrees of peripheral occlusion and increased HMD weight did not yield significant main effects; and the choice of method (i.e., how the speeds were presented) had a significant effect on the upper and lower bounds of what speeds were...
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Theories and models on the biological of cells in space
Todd, P.; Klaus, D. M.
1996-01-01
A wide variety of observations on cells in space, admittedly made under constraining and unnatural conditions in may cases, have led to experimental results that were surprising or unexpected. Reproducibility, freedom from artifacts, and plausibility must be considered in all cases, even when results are not surprising. The papers in symposium on 'Theories and Models on the Biology of Cells in Space' are dedicated to the subject of the plausibility of cellular responses to gravity -- inertial accelerations between 0 and 9.8 m/sq s and higher. The mechanical phenomena inside the cell, the gravitactic locomotion of single eukaryotic and prokaryotic cells, and the effects of inertial unloading on cellular physiology are addressed in theoretical and experimental studies.
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49 CFR Appendix D to Part 238 - Requirements for External Fuel Tanks on Tier I Locomotives
2010-10-01
... 49 Transportation 4 2010-10-01 2010-10-01 false Requirements for External Fuel Tanks on Tier I..., App. D Appendix D to Part 238—Requirements for External Fuel Tanks on Tier I Locomotives The... properties of the locomotive fuel tank to reduce the risk of fuel spillage to acceptable levels under...
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Directory of Open Access Journals (Sweden)
Filippo Sanfilippo
2017-03-01
Full Text Available In nature, snakes can gracefully traverse a wide range of different and complex environments. Snake robots that can mimic this behaviour could be fitted with sensors and transport tools to hazardous or confined areas that other robots and humans are unable to access. In order to carry out such tasks, snake robots must have a high degree of awareness of their surroundings (i.e., perception-driven locomotion and be capable of efficient obstacle exploitation (i.e., obstacle-aided locomotion to gain propulsion. These aspects are pivotal in order to realise the large variety of possible snake robot applications in real-life operations such as fire-fighting, industrial inspection, search-and-rescue, and more. In this paper, we survey and discuss the state of the art, challenges, and possibilities of perception-driven obstacle-aided locomotion for snake robots. To this end, different levels of autonomy are identified for snake robots and categorised into environmental complexity, mission complexity, and external system independence. From this perspective, we present a step-wise approach on how to increment snake robot abilities within guidance, navigation, and control in order to target the different levels of autonomy. Pertinent to snake robots, we focus on current strategies for snake robot locomotion in the presence of obstacles. Moreover, we put obstacle-aided locomotion into the context of perception and mapping. Finally, we present an overview of relevant key technologies and methods within environment perception, mapping, and representation that constitute important aspects of perception-driven obstacle-aided locomotion.
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Smith, S S
1995-09-01
1. In the present study, locomotor-correlated activity of cerebellar Purkinje cells, recorded using arrays of microwires chronically implanted in adult female rats, was examined across estrous-cycle-associated fluctuations in endogenous sex steroids. Ongoing studies from this laboratory have shown that systemic and local administration of the sex steroid 17 beta-estradiol (E2) augments excitatory responses of cerebellar Purkinje cells to iontophoretically applied glutamate, recorded in vivo from anesthetized female rats. In addition, this steroid potentiated discharge correlated with limb movement. For the present study, extracellular single-unit activity was recorded from as many as 5-11 Purkinje cells simultaneously during treadmill locomotion paradigms. Motor modulation of activity was recorded across three to five consecutive estrous cycles from behaviorally identified cohorts of neurons to test the hypothesis that fluctuations in endogenous sex steroids alter motor modulation of Purkinje cell discharge. 2. Locomotor-associated discharge correlated with treadmill locomotion was increased by a mean of 47% on proestrus, when E2 levels are elevated, relative to diestrus 1. These changes in discharge rate during treadmill locomotion were of significantly greater magnitude than corresponding cyclic alterations in discharge during stationary periods. 3. Correlations with the circadian cycle were also significant, because peak levels of locomotor-associated discharge on the night of behavioral estrus, following elevations in circulating E2, were on average 67% greater than corresponding discharge recorded during the light (proestrus). 4. Alterations in the step cycle were also observed across the estrous cycle: significant decreases in the duration of the flexion phase (by 265 ms, P estrus compared with diestrus. 5. When recorded on estrus, Purkinje cell discharge correlated with the stance or flexion phase of the step cycle was greater in magnitude and preceded the
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Van Nuffel, Annelies; Zwertvaegher, Ingrid; Pluym, Liesbet; Van Weyenberg, Stephanie; Thorup, Vivi M.; Pastell, Matti; Sonck, Bart; Saeys, Wouter
2015-01-01
Simple Summary Scoring cattle for lameness based on changes in locomotion or behavior is essential for farmers to find and treat their lame animals. This review discusses the normal locomotion of cows in order to define abnormal locomotion due to lameness. It furthermore provides an overview of various relevant visual locomotion scoring systems that are currently being used as well as practical considerations when assessing lameness on a commercial farm. Abstract Due to its detrimental effect on cow welfare, health and production, lameness in dairy cows has received quite a lot of attention in the last few decades—not only in terms of prevention and treatment of lameness but also in terms of detection, as early treatment might decrease the number of severely lame cows in the herds as well as decrease the direct and indirect costs associated with lameness cases. Generally, lame cows are detected by the herdsman, hoof trimmer or veterinarian based on abnormal locomotion, abnormal behavior or the presence of hoof lesions during routine trimming. In the scientific literature, several guidelines are proposed to detect lame cows based on visual interpretation of the locomotion of individual cows (i.e., locomotion scoring systems). Researchers and the industry have focused on automating such observations to support the farmer in finding the lame cows in their herds, but until now, such automated systems have rarely been used in commercial herds. This review starts with the description of normal locomotion of cows in order to define ‘abnormal’ locomotion caused by lameness. Cow locomotion (gait and posture) and behavioral features that change when a cow becomes lame are described and linked to the existing visual scoring systems. In addition, the lack of information of normal cow gait and a clear description of ‘abnormal’ gait are discussed. Finally, the different set-ups used during locomotion scoring and their influence on the resulting locomotion scores are
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Modeling the locomotion of the African trypanosome using multi-particle collision dynamics
International Nuclear Information System (INIS)
Babu, Sujin B; Stark, Holger
2012-01-01
The African trypanosome is a single flagellated micro-organism that causes the deadly sleeping sickness in humans and animals. We study the locomotion of a model trypanosome by modeling the spindle-shaped cell body using an elastic network of vertices with additional bending rigidity. The flagellum firmly attached to the model cell body is either straight or helical. A bending wave propagates along the flagellum and pushes the trypanosome forward in its viscous environment, which we simulate with the method of multi-particle collision dynamics. The relaxation dynamics of the model cell body due to a static bending wave reveals the sperm number from elastohydrodynamics as the relevant parameter. Characteristic cell body conformations for the helically attached flagellum resemble experimental observations. We show that the swimming velocity scales as the root of the angular frequency of the bending wave reminiscent of predictions for an actuated slender rod attached to a large viscous load. The swimming velocity for one geometry collapses on a single master curve when plotted versus the sperm number. The helically attached flagellum leads to a helical swimming path and a rotation of the model trypanosome about its long axis as observed in experiments. The simulated swimming velocity agrees with the experimental value. (paper)
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Manual and automatic locomotion scoring systems in dairy cows: a review.
Schlageter-Tello, Andrés; Bokkers, Eddie A M; Koerkamp, Peter W G Groot; Van Hertem, Tom; Viazzi, Stefano; Romanini, Carlos E B; Halachmi, Ilan; Bahr, Claudia; Berckmans, Daniël; Lokhorst, Kees
2014-09-01
The objective of this review was to describe, compare and evaluate agreement, reliability, and validity of manual and automatic locomotion scoring systems (MLSSs and ALSSs, respectively) used in dairy cattle lameness research. There are many different types of MLSSs and ALSSs. Twenty-five MLSSs were found in 244 articles. MLSSs use different types of scale (ordinal or continuous) and different gait and posture traits need to be observed. The most used MLSS (used in 28% of the references) is based on asymmetric gait, reluctance to bear weight, and arched back, and is scored on a five-level scale. Fifteen ALSSs were found that could be categorized according to three approaches: (a) the kinetic approach measures forces involved in locomotion, (b) the kinematic approach measures time and distance of variables associated to limb movement and some specific posture variables, and (c) the indirect approach uses behavioural variables or production variables as indicators for impaired locomotion. Agreement and reliability estimates were scarcely reported in articles related to MLSSs. When reported, inappropriate statistical methods such as PABAK and Pearson and Spearman correlation coefficients were commonly used. Some of the most frequently used MLSSs were poorly evaluated for agreement and reliability. Agreement and reliability estimates for the original four-, five- or nine-level MLSS, expressed in percentage of agreement, kappa and weighted kappa, showed large ranges among and sometimes also within articles. After the transformation into a two-level scale, agreement and reliability estimates showed acceptable estimates (percentage of agreement ≥ 75%; kappa and weighted kappa ≥ 0.6), but still estimates showed a large variation between articles. Agreement and reliability estimates for ALSSs were not reported in any article. Several ALSSs use MLSSs as a reference for model calibration and validation. However, varying agreement and reliability estimates of MLSSs make a
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Khusainov, R.; Klimchik, A.; Magid, E.
2017-01-01
The paper presents comparison analysis of two approaches in defining leg trajectories for biped locomotion. The first one operates only with kinematic limitations of leg joints and finds the maximum possible locomotion speed for given limits. The second approach defines leg trajectories from the dynamic stability point of view and utilizes ZMP criteria. We show that two methods give different trajectories and demonstrate that trajectories based on pure dynamic optimization cannot be realized due to joint limits. Kinematic optimization provides unstable solution which can be balanced by upper body movement.
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2013-06-05
...] Crawler, Locomotive, and Truck Cranes Standard; Extension of the Office of Management and Budget's (OMB... collection requirements contained in the General Industry Standard on Crawler, Locomotive, and Truck cranes... workers from using unsafe cranes and ropes, thereby reducing their risk of death or serious injury caused...
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2010-04-16
...] Crawler, Locomotive, and Truck Cranes Standard; Extension of the Office of Management and Budget's (OMB... Crawler, Locomotive, and Truck Cranes Standard (29 CFR 1910.180). DATES: Comments must be submitted... of each of these requirements is to prevent workers from using unsafe cranes and ropes, thereby...
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Directory of Open Access Journals (Sweden)
Poramate eManoonpong
2013-02-01
Full Text Available Living creatures, like walking animals, have found fascinating solutions for the problem of locomotion control. Their movements show the impression of elegance including versatile, energy-efficient, and adaptable locomotion. During the last few decades, roboticists have tried to imitate such natural properties with artificial legged locomotion systems by using different approaches including machine learning algorithms, classical engineering control techniques, and biologically-inspired control mechanisms. However, their levels of performance are still far from the natural ones. By contrast, animal locomotion mechanisms seem to largely depend not only on central mechanisms (central pattern generators, CPGs and sensory feedback (afferent-based control but also on internal forward models (efference copies. They are used to a different degree in different animals. Generally, CPGs organize basic rhythmic motions which are shaped by sensory feedback while internal models are used for sensory prediction and state estimations. According to this concept, we present here adaptive neural locomotion control consisting of a CPG mechanism with neuromodulation and local leg control mechanisms based on sensory feedback and adaptive neural forward models with efference copies. This neural closed-loop controller enables a walking machine to perform a multitude of different walking patterns including insect-like leg movements and gaits as well as energy-efficient locomotion. In addition, the forward models allow the machine to autonomously adapt its locomotion to deal with a change of terrain, losing of ground contact during stance phase, stepping on or hitting an obstacle during swing phase, leg damage, and even to promote cockroach-like climbing behavior. Thus, the results presented here show that the employed embodied neural closed-loop system can be a powerful way for developing robust and adaptable machines.
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Designing presence for real locomotion in immersive virtual environments
DEFF Research Database (Denmark)
Turchet, Luca
2015-01-01
This paper describes a framework for designing systems for real locomotion in virtual environments (VEs) in order to achieve an intense sense of presence. The main outcome of the present research is a list of design features that the virtual reality technology should have in order to achieve...
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Hiremath, Shivayogi V; Hogaboom, Nathan S; Roscher, Melissa R; Worobey, Lynn A; Oyster, Michelle L; Boninger, Michael L
2017-12-01
To examine (1) differences in quality-of-life scores for groups based on transitions in locomotion status at 1, 5, and 10 years postdischarge in a sample of people with spinal cord injury (SCI); and (2) whether demographic factors and transitions in locomotion status can predict quality-of-life measures at these time points. Retrospective case study of the National SCI Database. Model SCI Systems Centers. Individuals with SCI (N=10,190) from 21 SCI Model Systems Centers, identified through the National SCI Model Systems Centers database between the years 1985 and 2012. Subjects had FIM (locomotion mode) data at discharge and at least 1 of the following: 1, 5, or 10 years postdischarge. Not applicable. FIM-locomotion mode; Severity of Depression Scale; Satisfaction With Life Scale; and Craig Handicap Assessment and Reporting Technique. Participants who transitioned from ambulation to wheelchair use reported lower participation and life satisfaction, and higher depression levels (P.05) or life satisfaction (P>.05) compared with those who transitioned from wheelchair to ambulation. Demographic factors and locomotion transitions predicted quality-of-life scores at all time points (P<.05). The results of this study indicate that transitioning from ambulation to wheelchair use can negatively impact psychosocial health 10 years after SCI. Clinicians should be aware of this when deciding on ambulation training. Further work to characterize who may be at risk for these transitions is needed. Copyright © 2017 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.
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A Novel Interactive Exoskeletal Robot for Overground Locomotion Studies in Rats.
Song, Yun Seong; Hogan, Neville
2015-07-01
This paper introduces a newly developed apparatus, Iron Rat, for locomotion research in rodents. Its main purpose is to allow maximal freedom of voluntary overground movement of the animal while providing forceful interaction to the hindlimbs. Advantages and challenges of the proposed exoskeletal apparatus over other existing designs are discussed. Design and implementation challenges are presented and discussed, emphasizing their implications for free, voluntary movement of the animal. A live-animal experiment was conducted to assess the design. Unconstrained natural movement of the animal was compared with its movement with the exoskeletal module attached. The compact design and back-drivable implementation of this apparatus will allow novel experimental manipulations that may include forceful yet compliant dynamic interaction with the animal's overground locomotion.
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Relation between radio-adaptive response and cell to cell communication
International Nuclear Information System (INIS)
Keiichiro Ishii
1996-01-01
Ionizing radiation has been considered to cause severe damages to DNA and do harm to cells in proportion to the dose, however low it might be. In 1984, Wolff et al. showed that human peripheral lymphocytes adapted to the low-dose radiation from 3 H-TdR added in culture medium and became resistant to the subsequent irradiation with high-doses of X-rays. This response, which is called radio-adaptive response, is also induced by X-rays and gamma-rays in human lymphocytes and Chinese hamster V79 cells. However, the mechanisms of and conditions for adaptive responses to radiation have not been clarified. With an objective of clarifying the conditions for adaptive responses of cells to radiation, we examined how the cell to cell communication is involved in the adaptive responses. We irradiated normal human embryo-derived (HE) cells and cancer cells (HeLa) in culture at high density with low-dose X-ray and examined their radio-adaptive responses by measuring the changes in sensitivity to subsequent high-dose X-ray irradiation using the Trypan Blue dye-exclusion test method. We also conducted experiments to examine the effects of Ca 2+ ions and Phorbol 12-Myristate 13-Acetate (TPA) which are supposed to be involved in cell to cell communication. (author)
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Cowan, Noah; Sefati, Shahin; Neveln, Izaak; Roth, Eatai; Mitchell, Terence; Snyder, James; Maciver, Malcolm; Fortune, Eric
A surprising feature of animal locomotion is that organisms typically produce substantial forces in directions other than what is necessary to move the animal through its environment, such as perpendicular to, or counter to, the direction of travel. The effect of these forces has been difficult to observe because they are often mutually opposing and therefore cancel out. Using a combination of robotic physical modeling, computational modeling, and biological experiments, we discovered that these forces serve an important role: to simplify and enhance the control of locomotion. Specifically, we examined a well-suited model system, the glass knifefish Eigenmannia virescens, which produces mutually opposing forces during a hovering behavior. By systematically varying the locomotor parameters of our biomimetic robot, and measuring the resulting forces and kinematics, we demonstrated that the production and differential control of mutually opposing forces is a strategy that generates passive stabilization while simultaneously enhancing maneuverability. Mutually opposing forces during locomotion are widespread across animal taxa, and these results indicate that such forces can eliminate the tradeoff between stability and maneuverability, thereby simplifying robotic and neural control.
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International Nuclear Information System (INIS)
Wang, Zhouyi; Dai, Zhendong; Ji, Aihong; Xing, Qiang; Ren, Lei; Dai, Liming
2015-01-01
The excellent locomotion ability of geckos on various rough and/or inclined substrates has attracted scientists’ attention for centuries. However, the moving ability of gecko-mimicking robots on various inclined surfaces still lags far behind that of geckos, mainly because our understanding of how geckos govern their locomotion is still very poor. To reveal the fundamental mechanism of gecko locomotion and also to facilitate the design of gecko-mimicking robots, we have measured the reaction forces (RFs) acting on each individual foot of moving geckos on inverted, vertical and horizontal substrates (i.e. ceiling, wall and floor), have associated the RFs with locomotion behaviors by using high-speed camera, and have presented the relationships of the force components with patterns of reaction forces (PRFs). Geckos generate different PRF on ceiling, wall and floor, that is, the PRF is determined by the angles between the direction of gravity and the substrate on which geckos move. On the ceiling, geckos produce reversed shear forces acting on the front and hind feet, which pull away from the body in both lateral and fore-aft directions. They use a very large supporting angle from 21° to 24° to reduce the forces acting on their legs and feet. On the floor, geckos lift their bodies using a supporting angle from 76° to 78°, which not only decreases the RFs but also improves their locomotion ability. On the wall, geckos generate a reliable self-locking attachment by using a supporting angle of 14.8°, which is only about half of the critical angle of detachment. (paper)
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Directory of Open Access Journals (Sweden)
B. Ye. Bodnar
2008-12-01
Full Text Available The issues of increase of efficiency of information processing by оn-board systems of diagnostics of locomotives are considered. The examples of information processing by the on-board system of diagnostics of electric locomotives DE1 are presented. The suggestions on improvement of systematization and processing of information by on-board systems of diagnostics are given.
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DEFF Research Database (Denmark)
Hägglund, Martin; Borgius, Lotta; Dougherty, Kimberly J.
2010-01-01
Central pattern generators (CPGs) are spinal neuronal networks required for locomotion. Glutamatergic neurons have been implicated as being important for intrinsic rhythm generation in the CPG and for the command signal for initiating locomotion, although this has not been demonstrated directly. We...... neurons in the spinal cord are critical for initiating or maintaining the rhythm and that activation of hindbrain areas containing the locomotor command regions is sufficient to directly activate the spinal locomotor network....
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Directory of Open Access Journals (Sweden)
Irina YUTKINA
2014-03-01
Full Text Available An engineering method of design, worked out by the authors, is considered in the paper. It allows to carry out design of amplitude-frequency specter and vibration loading of cylinder cases of the diesel engine of locomotive with account of cavitation-erosion damage. Offered method of design of parameters of cavitation-erosion damage may be used in design of new structures of diesel engines of locomotives and systems of cooling.
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КЛЮШНИК, І. А.
2017-01-01
The possibility of developing a self-diagnostics system of the diesel locomotives hydraulic transmissions information-measuring test system is researched. The use of neural networks and fuzzy logic for the development of a self-diagnostics system of the diesel locomotives hydraulic transmissions information-measuring tests system is proposed. As the initial stage of developing a diagnostic system using neural networks, a neural network is presented which predicts the rotational speed of the h...
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Energy Efficiency of Robot Locomotion Increases Proportional to Weight
DEFF Research Database (Denmark)
Larsen, Jørgen Christian; Støy, Kasper
2011-01-01
The task of producing steady, stable and energy efficient locomotion in legged robots with the ability to walk in un- known terrain have for many years been a big challenge in robotics. This work is focusing on how different robots build from the modular robotic system, LocoKit by Larsen et. la [3...
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Energy Efficiency of Robot Locomotion Increases Proportional to Weight
DEFF Research Database (Denmark)
Larsen, J. C.; Stoy, K.
2011-01-01
The task of producing steady, stable and energy efficient locomotion in legged robots with the ability to walk in unknown terrain have for many years been a big challenge in robotics. This work is focusing on how different robots build from the modular robotic system, LocoKit by Larsen et al. [1...
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40 CFR 1042.836 - Marine certification of locomotive remanufacturing systems.
2010-07-01
... 40 Protection of Environment 32 2010-07-01 2010-07-01 false Marine certification of locomotive remanufacturing systems. 1042.836 Section 1042.836 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY... ENGINES AND VESSELS Special Provisions for Remanufactured Marine Engines § 1042.836 Marine certification...
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Directory of Open Access Journals (Sweden)
Joseph Andrews Alves
2016-01-01
Full Text Available Quadrupedal mammals typically synchronize their respiration with body movements during rhythmic locomotion. In the rat, fast respiration is coupled to head movements during sniffing behavior, but whether respiration is entrained by stride dynamics is not known. We recorded intranasal pressure, head acceleration, instantaneous speed, and ultrasonic vocalizations from male and female adult rats while freely behaving in a social environment. We used high-speed video recordings of stride to understand how head acceleration signals relate to locomotion and developed techniques to identify episodes of sniffing, walking, trotting, and galloping from the recorded variables. Quantitative analysis of synchrony between respiration and head acceleration rhythms revealed that respiration and locomotion movements were coordinated but with a weaker coupling than expected from previous work in other mammals. We have recently shown that rats behaving in social settings produce high rates of ultrasonic vocalizations during locomotion bouts. Accordingly, rats emitted vocalizations in over half of the respiratory cycles during fast displacements. We present evidence suggesting that emission of these calls disrupts the entrainment of respiration by stride. The coupling between these two variables is thus flexible, such that it can be overridden by other behavioral demands.
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Eicher, S D; Lay, D C; Arthington, J D; Schutz, M M
2013-06-01
Some housing systems on dairy farms can result in long-term chronic pain. The effects of acute pain on immunity have been explored, but chronic pain's influence on immune responses is still poorly understood. Therefore, the objective of this research was to determine chronic effects of flooring on immune responses and production in freestall housing for dairy cows. Thirty heifers were studied from before calving as first-calf heifers until d 180 of their second lactation. Treatments were rubber (Kraiburg; Agromatic Inc., Fond du Lac, WI) flooring or concrete with diamond grooves in a freestall barn, each in 2 quadrants of the barn. Heifers entered the treatments after calving, so the system was dynamic and each cow was considered an experimental unit. At the end of the first lactation, cows were housed in a bedded pack barn with pasture access until calving was imminent. At that time, they returned to their assigned treatment, but not necessarily into the same quadrant. Production, reproduction, cortisol, acute-phase proteins, and health data were recorded throughout lactation 1, locomotion was scored weekly, and hoof scoring and care was conducted on d 60 and 180 of lactations 1 and 2, and quantitative real-time-PCR of blood leukocytes was analyzed in mid lactation of lactation 1. Mature-equivalent milk fat, milk protein, and protein percentages during the first lactation were greater for cows on the rubber flooring. Hoof and leg therapy treatments per cow were fewer for rubber floor-housed cows. Locomotion scores were less for cows housed on rubber during the second lactation. White blood cell counts were less for cows housed on rubber, and caused by greater lymphocyte counts for cows housed on concrete. The possibility of chronic inflammation was substantiated by less IL-1β and more IL-1 receptor antagonists for cows housed on rubber at d 150 in the second lactation. Cortisol and acute-phase proteins did not differ between the treatments. Interferon-γ, IL-12
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Efficient worm-like locomotion: slip and control of soft-bodied peristaltic robots
International Nuclear Information System (INIS)
Daltorio, Kathryn A; Horchler, Andrew D; Quinn, Roger D; Boxerbaum, Alexander S; Shaw, Kendrick M; Chiel, Hillel J
2013-01-01
In this work, we present a dynamic simulation of an earthworm-like robot moving in a pipe with radially symmetric Coulomb friction contact. Under these conditions, peristaltic locomotion is efficient if slip is minimized. We characterize ways to reduce slip-related losses in a constant-radius pipe. Using these principles, we can design controllers that can navigate pipes even with a narrowing in radius. We propose a stable heteroclinic channel controller that takes advantage of contact force feedback on each segment. In an example narrowing pipe, this controller loses 40% less energy to slip compared to the best-fit sine wave controller. The peristaltic locomotion with feedback also has greater speed and more consistent forward progress. (paper)
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Efficient worm-like locomotion: slip and control of soft-bodied peristaltic robots.
Daltorio, Kathryn A; Boxerbaum, Alexander S; Horchler, Andrew D; Shaw, Kendrick M; Chiel, Hillel J; Quinn, Roger D
2013-09-01
In this work, we present a dynamic simulation of an earthworm-like robot moving in a pipe with radially symmetric Coulomb friction contact. Under these conditions, peristaltic locomotion is efficient if slip is minimized. We characterize ways to reduce slip-related losses in a constant-radius pipe. Using these principles, we can design controllers that can navigate pipes even with a narrowing in radius. We propose a stable heteroclinic channel controller that takes advantage of contact force feedback on each segment. In an example narrowing pipe, this controller loses 40% less energy to slip compared to the best-fit sine wave controller. The peristaltic locomotion with feedback also has greater speed and more consistent forward progress
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Modeling locomotion of a soft-bodied arthropod using inverse dynamics
International Nuclear Information System (INIS)
Saunders, Frank; Trimmer, Barry A; Rife, Jason
2011-01-01
Most bio-inspired robots have been based on animals with jointed, stiff skeletons. There is now an increasing interest in mimicking the robust performance of animals in natural environments by incorporating compliant materials into the locomotory system. However, the mechanics of moving, highly conformable structures are particularly difficult to predict. This paper proposes a planar, extensible-link model for the soft-bodied tobacco hornworm caterpillar, Manduca sexta, to provide insight for biologists and engineers studying locomotion by highly deformable animals and caterpillar-like robots. Using inverse dynamics to process experimentally acquired point-tracking data, ground reaction forces and internal forces were determined for a crawling caterpillar. Computed ground reaction forces were compared to experimental data to validate the model. The results show that a system of linked extendable joints can faithfully describe the general form and magnitude of the contact forces produced by a crawling caterpillar. Furthermore, the model can be used to compute internal forces that cannot be measured experimentally. It is predicted that between different body segments in stance phase the body is mostly kept in tension and that compression only occurs during the swing phase when the prolegs release their grip. This finding supports a recently proposed mechanism for locomotion by soft animals in which the substrate transfers compressive forces from one part of the body to another (the environmental skeleton) thereby minimizing the need for hydrostatic stiffening. The model also provides a new means to characterize and test control strategies used in caterpillar crawling and soft robot locomotion.
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Sexuality of Disabled Athletes Depending on the Form of Locomotion
Directory of Open Access Journals (Sweden)
Plinta Ryszard
2015-12-01
Full Text Available The main purpose of this study was to determine sexuality of disabled athletes depending on the form of locomotion. The study included 170 disabled athletes, aged between 18 and 45. The entire population was divided into 3 research groups depending on the form of locomotion: moving on wheelchairs (n=52, on crutches (n=29 and unaided (n=89. The research tool was a questionnaire voluntarily and anonymously completed by the respondents of the research groups. The questionnaire was composed of a general part concerning the socio-demographic conditions, medical history, health problems, a part dedicated to physical disability as well as the Polish version of the International Index of Erectile Function (IIEF and the Female Sexual Function Index (FSFI evaluating sexual life. STATISTICA 10.0 for Windows was used in the statistical analysis. Subjects moving on crutches were significantly older than ones moving on wheelchairs and unaided (34.41 ±11.00 vs. 30.49 ±10.44 and 27.99 ±10.51 years, respectively (p=0.018. Clinically significant erectile dysfunctions were most often diagnosed in athletes moving on wheelchairs (70.27%, followed by athletes moving on crutches and moving unaided (60% and 35.42%, respectively; p=0.048. Clinical sexual dysfunctions were diagnosed on a similar level among all female athletes. It was concluded that the form of locomotion may determine sexuality of disabled men. Males on wheelchair revealed the worst sexual functioning. Female athletes moving on wheelchairs, on crutches and moving unaided were comparable in the aspect of their sexual life.
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McInroe, Benjamin; Astley, Henry; Kawano, Sandy; Blob, Richard; Goldman, Daniel I.
2015-03-01
In the evolutionary transition from an aquatic to a terrestrial environment, early walkers adapted to the challenges of locomotion on complex, flowable substrates (e.g. sand and mud). Our previous biological and robotic studies have demonstrated that locomotion on such substrates is sensitive to both limb morphology and kinematics. Although reconstructions of early vertebrate skeletal morphologies exist, the kinematic strategies required for successful locomotion by these organisms have not yet been explored. To gain insight into how early walkers contended with complex substrates, we developed a robotic model with appendage morphology inspired by a model analog organism, the mudskipper. We tested mudskippers and the robot on different substrates, including rigid ground and dry granular media, varying incline angle. The mudskippers moved effectively on all level substrates using a fin-driven gait. But as incline angle increased, the animals used their tails in concert with their fins to generate propulsion. Adding an actuated tail to the robot improved robustness, making possible locomotion on otherwise inaccessible inclines. With these discoveries, we are elucidating a minimal template that may have allowed the early walkers to adapt to locomotion on land. This work was supported by NSF PoLS.
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International Nuclear Information System (INIS)
Huerta, M.; Yoshimura, H.R.
1983-02-01
This report described structural analyses of a high-speed impact between a locomotive and a tractor-trailer system carrying a nuclear-spent-fuel shipping cask. The analyses included both mathematical and physical scale-modeling of the system. The report then describes the full-scale test conducted as part of the program. The system response is described in detail, and a comparison is made between the analyses and the actual hardware response as observed in the full-scale test. 34 figures
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Support afferentation in the posture and locomotion control system
Grigoriev, Anatoly; Tomilovskaya, Elena; Kozlovskaya, Inesa
Mechanisms of support afferentation contribution in posture and locomotion control, which were uncertain up to now, became the point of intensive studies recently. This became possible since the space flights era started which created the conditions for simulated microgravity experiments under conditions of dry immersion and bedrest. The results of neurophysiological studies performed under the conditions of supportlessness have shown that decline or elimination of support loads is followed by deep and fast developing alterations in postural tonic system, including development of postural muscle atonia, changes of recruitment order of motoneurons innervating the shin muscles, spinal hyperreflexia development etc. (Kozlovskaya I.B. et al., 1987). It has been also shown that application of artificial support stimulation in the regimen of natural locomotion under these conditions decreases significantly or even eliminates the development of mentioned changes. The results of these studies laid down the basis for a new hypothesis on the trigger role of support afferentation in postural tonic system and its role in organization and control of postural synergies (Grigoriev A.I. et al., 2004). According to this hypothesis the muscle reception is considered to be the leading afferent input in the control of locomotion. However the data of recent studies pointed out strongly to the participation of support afferentation in definition of cognitive strategies and motor programs of locomotor movements (Chernikova L.A. et al., 2013) and, consequently, in the processes of their initiation (Gerasimenko Yu.P. et al., 2012). The cortical locomotor reflex composes apparently the basis of these processes. The receptive field of this reflex is located in the support zones of the soles and the central part is located in the posterior parietal areas (IPL) of brain cortex. The study is supported by RFBR grant N 13-04-12091 OFI-m.
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Design of a novel magnetic platform for cell manipulation
Lucarini, Gioia; Iacovacci, Veronica; Gouveia, Pedro J.; Ricotti, Leonardo; Menciassi, Arianna
2018-02-01
Cell manipulation tasks, especially in lab-on-a-chip applications for personalized medicine, could greatly benefit from mobile untethered microdevices able to wirelessly navigate in fluidic environments by means of magnetic fields. In this paper, the design, fabrication and testing of a magnetic platform enabling the controlled locomotion and immersion of microrobots placed at the air/liquid interface is proposed and exploited for cell manipulation. The proposed microrobot consists of a polymeric magnetic thin film that acts as cell transporter and a specific coating strategy, devised to enhance a safe cancer cell adhesion to the magnetic film. Experimental results demonstrated an overall cell viability and a fine control of magnetic microrobot locomotion. The proposed technologies are promising in view of future cell manipulation tasks for personalized medicine applications.
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Controlling legs for locomotion-insights from robotics and neurobiology.
Buschmann, Thomas; Ewald, Alexander; von Twickel, Arndt; Büschges, Ansgar
2015-06-29
Walking is the most common terrestrial form of locomotion in animals. Its great versatility and flexibility has led to many attempts at building walking machines with similar capabilities. The control of walking is an active research area both in neurobiology and robotics, with a large and growing body of work. This paper gives an overview of the current knowledge on the control of legged locomotion in animals and machines and attempts to give walking control researchers from biology and robotics an overview of the current knowledge in both fields. We try to summarize the knowledge on the neurobiological basis of walking control in animals, emphasizing common principles seen in different species. In a section on walking robots, we review common approaches to walking controller design with a slight emphasis on biped walking control. We show where parallels between robotic and neurobiological walking controllers exist and how robotics and biology may benefit from each other. Finally, we discuss where research in the two fields diverges and suggest ways to bridge these gaps.
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Garland, Theodore; Albuquerque, Ralph L
2017-08-01
average for both lineages, the ECT is surprisingly low, somewhat higher for lizards, and positively allometric. If a lizard and mammal of 100 g body mass were both to move their entire DMD at their MAS, they could do so in ∼21 and 17 min, respectively, thus de-emphasizing the possible importance of time constraints. We conclude that ecological-energetic constraints related to locomotion are relatively more likely to occur in large, carnivorous lizards. Overall, our comparisons support the idea that the (gradual) evolution of mammalian endothermy did not necessarily require major changes in locomotor energetics, performance, or associated behaviors. Instead, we speculate that the evolution of thermoregulatory responses to low temperatures (e.g., shivering) may have been a key and "difficult" step in this transition. © The Author 2017. Published by Oxford University Press on behalf of the Society for Integrative and Comparative Biology. All rights reserved. For permissions please email: journals.permissions@oup.com.
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Directory of Open Access Journals (Sweden)
Annelies Van Nuffel
2015-08-01
Full Text Available Due to its detrimental effect on cow welfare, health and production, lameness in dairy cows has received quite a lot of attention in the last few decades—not only in terms of prevention and treatment of lameness but also in terms of detection, as early treatment might decrease the number of severely lame cows in the herds as well as decrease the direct and indirect costs associated with lameness cases. Generally, lame cows are detected by the herdsman, hoof trimmer or veterinarian based on abnormal locomotion, abnormal behavior or the presence of hoof lesions during routine trimming. In the scientific literature, several guidelines are proposed to detect lame cows based on visual interpretation of the locomotion of individual cows (i.e., locomotion scoring systems. Researchers and the industry have focused on automating such observations to support the farmer in finding the lame cows in their herds, but until now, such automated systems have rarely been used in commercial herds. This review starts with the description of normal locomotion of cows in order to define ‘abnormal’ locomotion caused by lameness. Cow locomotion (gait and posture and behavioral features that change when a cow becomes lame are described and linked to the existing visual scoring systems. In addition, the lack of information of normal cow gait and a clear description of ‘abnormal’ gait are discussed. Finally, the different set-ups used during locomotion scoring and their influence on the resulting locomotion scores are evaluated.
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Directory of Open Access Journals (Sweden)
Nakamura M
2017-09-01
Full Text Available Misa Nakamura,1 Fumie Tazaki,1 Kazuki Nomura,1 Taeko Takano,1 Masashi Hashimoto,1 Hiroshi Hashizume,2 Ichiro Kamei1 1Department of Rehabilitation, Osaka Kawasaki Rehabilitation University, Kaizuka, Osaka, Japan; 2Department of Orthopaedic Surgery, Wakayama Medical University, Wakayama, Japan Abstract: In our worldwide aging society, elderly people should maintain cognitive and physical function to help avoid health problems. Dementia is a major brain disease among elderly people, and is caused by cognitive impairment. The locomotive syndrome (LS refers to a condition in which people require healthcare services because of problems associated with locomotion. The purpose of this study was to determine the association between cognitive impairment and LS. Study participants were 142 healthy elderly female volunteers living in a rural area in Japan. Cognitive function was assessed using the Mini-Mental State Examination (MMSE. A score of ≤26 points on the MMSE was used to indicate categorically defined poor cognitive performance (cognitive impairment. The LS was defined by a score ≥16 points, and non-LS as <16 points, on the 25-question Geriatric Locomotive Function Scale (GLFS-25. Twenty-one participants (14.8% had an MMSE score ≤26, and 19.0% were found to have LS. Compared with the MMSE >26 group, the ≤26 group was significantly older, had a higher percentage of body fat, and a higher GLFS-25 score. Those with LS were significantly older, had a higher body mass index, a higher percentage of body fat, and a lower MMSE score. Participants in the LS group had higher odds of cognitive impairment than those without LS [odds ratio (OR =3.08] by logistic regression analysis adjusted for age. Furthermore, participants with GLFS-25 scores ≥6 had higher odds of cognitive impairment than those with a GLFS-25 score <6 by logistic regression analysis adjusted for both age (OR =4.44, and age and percent body fat (OR =4.12. These findings
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Suppression of pro-inflammatory T-cell responses by human mesothelial cells.
Lin, Chan-Yu; Kift-Morgan, Ann; Moser, Bernhard; Topley, Nicholas; Eberl, Matthias
2013-07-01
Human γδ T cells reactive to the microbial metabolite (E)-4-hydroxy-3-methyl-but-2-enyl pyrophosphate (HMB-PP) contribute to acute inflammatory responses. We have previously shown that peritoneal dialysis (PD)-associated infections with HMB-PP producing bacteria are characterized by locally elevated γδ T-cell frequencies and poorer clinical outcome compared with HMB-PP negative infections, implying that γδ T cells may be of diagnostic, prognostic and therapeutic value in acute disease. The regulation by local tissue cells of these potentially detrimental γδ T-cell responses remains to be investigated. Freshly isolated γδ or αβ T cells were cultured with primary mesothelial cells derived from omental tissue, or with mesothelial cell-conditioned medium. Stimulation of cytokine production and proliferation by peripheral T cells in response to HMB-PP or CD3/CD28 beads was assessed by flow cytometry. Resting mesothelial cells were potent suppressors of pro-inflammatory γδ T cells as well as CD4+ and CD8+ αβ T cells. The suppression of γδ T-cell responses was mediated through soluble factors released by primary mesothelial cells and could be counteracted by SB-431542, a selective inhibitor of TGF-β and activin signalling. Recombinant TGF-β1 but not activin-A mimicked the mesothelial cell-mediated suppression of γδ T-cell responses to HMB-PP. The present findings indicate an important regulatory function of mesothelial cells in the peritoneal cavity by dampening pro-inflammatory T-cell responses, which may help preserve the tissue integrity of the peritoneal membrane in the steady state and possibly during the resolution of acute inflammation.
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49 CFR 231.16 - Steam locomotives used in switching service.
2010-10-01
... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotives used in switching service. 231... RAILROAD ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD SAFETY APPLIANCE STANDARDS § 231.16 Steam..., buffer block, footboard, brake pipe, signal pipe, steam-heat pipe or arms of uncoupling lever shall...
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49 CFR 222.21 - When must a locomotive horn be used?
2010-10-01
... or lead cab car shall be sounded when such locomotive or lead cab car is approaching a public highway... equipped with automatic flashing lights and gates and the gates are fully lowered; or (2) There are no...
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Locomotive emissions test stand with particulate matter measurement integration : final report.
2015-10-01
This project builds upon previous research efforts, in which a complete instruction manual and bill of materials was developed for : a blueprint that allows any organization in the railroad industry to build their own locomotive emissions measurement...
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Directory of Open Access Journals (Sweden)
Ryan T Schroeder
2018-05-01
Full Text Available Terrestrial organisms adept at locomotion employ strut-like legs for economical and robust movement across the substrate. Although it is relatively easy to observe and analyze details of the solutions these organic systems have arrived at, it is not as easy to identify the problems these movement strategies have solved. As such, it is useful to investigate fundamental challenges that effective legged locomotion overcomes in order to understand why the mechanisms employed by biological systems provide viable solutions to these challenges. Such insight can inform the design and development of legged robots that may eventually match or exceed animal performance. In the context of human walking, we apply control optimization as a design strategy for simple bipedal walking machines with minimal actuation. This approach is used to discuss key facilitators of energetically efficient locomotion in simple bipedal walkers. Furthermore, we extrapolate the approach to a novel application—a theoretical exoskeleton attached to the trunk of a human walker—to demonstrate how coordinated efforts between bipedal actuation and a machine oscillator can potentially alleviate a meaningful portion of energetic exertion associated with leg function during human walking.
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Hybrid magnetic mechanism for active locomotion based on inchworm motion
International Nuclear Information System (INIS)
Kim, Sung Hoon; Hashi, Shuichiro; Ishiyama, Kazushi
2013-01-01
Magnetic robots have been studied in the past. Insect-type micro-robots are used in various biomedical applications; researchers have developed inchworm micro-robots for endoscopic use. A biological inchworm has a looping locomotion gait. However, most inchworm micro-robots depend on a general bending, or bellows, motion. In this paper, we introduce a new robotic mechanism using magnetic force and torque control in a rotating magnetic field for a looping gait. The proposed robot is controlled by the magnetic torque, attractive force, and body mechanisms (two stoppers, flexible body, and different frictional legs). The magnetic torque generates a general bending motion. In addition, the attractive force and body mechanisms produce the robot’s looping motion within a rotating magnetic field and without the use of an algorithm for field control. We verified the device’s performance and analyzed the motion through simulations and various experiments. The robot mechanism can be applied to active locomotion for various medical robots, such as wireless endoscopes. (technical note)
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Reciprocal locomotion of dense swimmers in Stokes flow
International Nuclear Information System (INIS)
Gonzalez-Rodriguez, David; Lauga, Eric
2009-01-01
Due to the kinematic reversibility of Stokes flow, a body executing a reciprocal motion (a motion in which the sequence of body configurations remains identical under time reversal) cannot propel itself in a viscous fluid in the limit of negligible inertia; this result is known as Purcell's scallop theorem. In this limit, the Reynolds numbers based on the fluid inertia and on the body inertia are all zero. Previous studies characterized the breakdown of the scallop theorem with fluid inertia. In this paper we show that, even in the absence of fluid inertia, certain dense bodies undergoing reciprocal motion are able to swim. Using Lorentz's reciprocal theorem, we first derive the general differential equations that govern the locomotion kinematics of a dense swimmer. We demonstrate that no reciprocal swimming is possible if the body motion consists only of tangential surface deformation (squirming). We then apply our general formulation to compute the locomotion of four simple swimmers, each with a different spatial asymmetry, that perform normal surface deformations. We show that the resulting swimming speeds (or rotation rates) scale as the first power of a properly defined 'swimmer Reynolds number', demonstrating thereby a continuous breakdown of the scallop theorem with body inertia.
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49 CFR 231.17 - Specifications common to all steam locomotives.
2010-10-01
... shall be securely fastened with bolts, rivets, or studs. (ii) Locomotives having Wootten type boilers... inches above outside edge of running boards, securely fastened with bolts, rivets, or studs. (c... inches in height, measured from the top of end sill, and securely fastened with bolts or rivets. (f...
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Effects of spaceflight on rhesus quadrupedal locomotion after return to 1G
Recktenwald, M. R.; Hodgson, J. A.; Roy, R. R.; Riazanski, S.; McCall, G. E.; Kozlovskaya, I.; Washburn, D. A.; Fanton, J. W.; Edgerton, V. R.; Rumbaugh, D. M. (Principal Investigator)
1999-01-01
Effects of spaceflight on Rhesus quadrupedal locomotion after return to 1G. Locomotor performance, activation patterns of the soleus (Sol), medial gastrocnemius (MG), vastus lateralis (VL), and tibialis anterior (TA) and MG tendon force during quadrupedal stepping were studied in adult Rhesus before and after 14 days of either spaceflight (n = 2) or flight simulation at 1G (n = 3). Flight simulation involved duplication of the spaceflight conditions and experimental protocol in a 1G environment. Postflight, but not postsimulation, electromyographic (EMG) recordings revealed clonus-like activity in all muscles. Compared with preflight, the cycle period and burst durations of the primary extensors (Sol, MG, and VL) tended to decrease postflight. These decreases were associated with shorter steps. The flexor (TA) EMG burst duration postflight was similar to preflight, whereas the burst amplitude was elevated. Consequently, the Sol:TA and MG:TA EMG amplitude ratios were lower following flight, reflecting a "flexor bias." Together, these alterations in mean EMG amplitudes reflect differential adaptations in motor-unit recruitment patterns of flexors and extensors as well as fast and slow motor pools. Shorter cycle period and burst durations persisted throughout the 20-day postflight testing period, whereas mean EMG returned to preflight levels by 17 days postflight. Compared with presimulation, the simulation group showed slight increases in the cycle period and burst durations of all muscles. Mean EMG amplitude decreased in the Sol, increased in the MG and VL, and was unchanged in the TA. Thus adaptations observed postsimulation were different from those observed postflight, indicating that there was a response unique to the microgravity environment, i.e., the modulations in the nervous system controlling locomotion cannot merely be attributed to restriction of movement but appear to be the result of changes in the interpretation of load-related proprioceptive feedback
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Metabolomic Responses of Guard Cells and Mesophyll Cells to Bicarbonate
Misra, Biswapriya B.; de Armas, Evaldo; Tong, Zhaohui; Chen, Sixue
2015-01-01
Anthropogenic CO2 presently at 400 ppm is expected to reach 550 ppm in 2050, an increment expected to affect plant growth and productivity. Paired stomatal guard cells (GCs) are the gate-way for water, CO2, and pathogen, while mesophyll cells (MCs) represent the bulk cell-type of green leaves mainly for photosynthesis. We used the two different cell types, i.e., GCs and MCs from canola (Brassica napus) to profile metabolomic changes upon increased CO2 through supplementation with bicarbonate (HCO3 -). Two metabolomics platforms enabled quantification of 268 metabolites in a time-course study to reveal short-term responses. The HCO3 - responsive metabolomes of the cell types differed in their responsiveness. The MCs demonstrated increased amino acids, phenylpropanoids, redox metabolites, auxins and cytokinins, all of which were decreased in GCs in response to HCO3 -. In addition, the GCs showed differential increases of primary C-metabolites, N-metabolites (e.g., purines and amino acids), and defense-responsive pathways (e.g., alkaloids, phenolics, and flavonoids) as compared to the MCs, indicating differential C/N homeostasis in the cell-types. The metabolomics results provide insights into plant responses and crop productivity under future climatic changes where elevated CO2 conditions are to take center-stage. PMID:26641455
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Scaling in Theropod Dinosaurs: Femoral Bone Strength and Locomotion
Lee, Scott
2015-01-01
In our first article on scaling in theropod dinosaurs, the longitudinal stress in the leg bones due to supporting the weight of the animal was studied and found not to control the dimensions of the femur. As a continuation of our study of elasticity in dinosaur bones, we now examine the transverse stress in the femur due to locomotion and find…
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Proprioceptive Actuation Design for Dynamic Legged locomotion
Kim, Sangbae; Wensing, Patrick; Biomimetic Robotics Lab Team
Designing an actuator system for highly-dynamic legged locomotion exhibited by animals has been one of the grand challenges in robotics research. Conventional actuators designed for manufacturing applications have difficulty satisfying challenging requirements for high-speed locomotion, such as the need for high torque density and the ability to manage dynamic physical interactions. It is critical to introduce a new actuator design paradigm and provide guidelines for its incorporation in future mobile robots for research and industry. To this end, we suggest a paradigm called proprioceptive actuation, which enables highly- dynamic operation in legged machines. Proprioceptive actuation uses collocated force control at the joints to effectively control contact interactions at the feet under dynamic conditions. In the realm of legged machines, this paradigm provides a unique combination of high torque density, high-bandwidth force control, and the ability to mitigate impacts through backdrivability. Results show that the proposed design provides an impact mitigation factor that is comparable to other quadruped designs with series springs to handle impact. The paradigm is shown to enable the MIT Cheetah to manage the application of contact forces during dynamic bounding, with results given down to contact times of 85ms and peak forces over 450N. As a result, the MIT Cheetah achieves high-speed 3D running up to 13mph and jumping over an 18-inch high obstacle. The project is sponsored by DARPA M3 program.
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Directory of Open Access Journals (Sweden)
E. A. Bondar
2010-06-01
Full Text Available It is shown that at present an acceptable way of reducing the concentration of harmful substances in the surface layer of the atmosphere at rheostat tests of locomotives is their dispersion in a large volume of air. Channels, installed above an exhaust pipe of diesel locomotive with a break at the gas flow, work as ejectors. We have solved jointly the equation of aerodynamic characteristics of the ejector device and the equation of diffusion of gases; as a result the calculated dependence for determining the necessary height of ejector device has been obtained.
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The Relationship between Locomotive Syndrome and Depression in Community-Dwelling Elderly People
Directory of Open Access Journals (Sweden)
Misa Nakamura
2017-01-01
Full Text Available Locomotive syndrome (LS is a concept that refers to the condition of people requiring healthcare services because of problems associated with locomotion. Depression is a major psychiatric disease among the elderly, in addition to dementia. The purpose of this study was to determine the association between LS and depression. The study participants were 224 healthy elderly volunteers living in a rural area in Japan. LS was defined as scores ≥ 16 on the 25-question Geriatric Locomotive Function Scale (GLFS-25. Depression was defined as scores ≥ 5 on the 15-item Geriatric Depression Scale (GDS-15. Height and body weight were measured. The prevalence of LS and depression was 13.9% and 24.2%, respectively. Compared with the non-LS group, the LS group was older, was shorter, had a higher BMI, and had higher GDS-15 scores. Logistic regression analysis showed that participants with GDS-15 scores ≥ 6 had higher odds for LS than those with GDS-15 scores < 6 (odds ratio [OR] = 4.22. Conversely, the depression group had higher GLFS-25 scores than the nondepression group. Participants with GLFS-25 scores ≥ 5 had higher odds for depression than those with GLFS-25 scores < 5 (OR = 4.53. These findings suggest that there is a close relationship between LS and depression.
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Sustained Treatment with Insulin Detemir in Mice Alters Brain Activity and Locomotion.
Directory of Open Access Journals (Sweden)
Tina Sartorius
Full Text Available Recent studies have identified unique brain effects of insulin detemir (Levemir®. Due to its pharmacologic properties, insulin detemir may reach higher concentrations in the brain than regular insulin. This might explain the observed increased brain stimulation after acute insulin detemir application but it remained unclear whether chronic insulin detemir treatment causes alterations in brain activity as a consequence of overstimulation.In mice, we examined insulin detemir's prolonged brain exposure by continuous subcutaneous (s.c. application using either micro-osmotic pumps or daily s.c. injections and performed continuous radiotelemetric electrocorticography and locomotion recordings.Acute intracerebroventricular injection of insulin detemir activated cortical and locomotor activity significantly more than regular insulin in equimolar doses (0.94 and 5.63 mU in total, suggesting an enhanced acute impact on brain networks. However, given continuously s.c., insulin detemir significantly reduced cortical activity (theta: 21.3±6.1% vs. 73.0±8.1%, P<0.001 and failed to maintain locomotion, while regular insulin resulted in an increase of both parameters.The data suggest that permanently-increased insulin detemir levels in the brain convert its hyperstimulatory effects and finally mediate impairments in brain activity and locomotion. This observation might be considered when human studies with insulin detemir are designed to target the brain in order to optimize treatment regimens.
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Solid oxide fuel cells for transportation: A clean, efficient alternative for propulsion
International Nuclear Information System (INIS)
Kumar, R.; Krumpelt, M.; Myles, K.M.
1993-01-01
Fuel cells show great promise for providing clean and efficient transportation power. Of the fuel cell propulsion systems under investigation, the solid oxide fuel cell (SOFC) is particularly attractive for heavy duty transportation applications that have a relatively long duty cycle, such as locomotives, trucks, and barges. Advantages of the SOFC include a simple, compact system configuration; inherent fuel flexibility for hydrocarbon and alternative fuels; and minimal water management. The specific advantages of the SOFC for powering a railroad locomotive are examined. Feasibility, practicality, and safety concerns regarding SOFCs in transportation applications are discussed, as am the major R ampersand D issues
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Risse, Benjamin; Otto, Nils; Berh, Dimitri; Jiang, Xiaoyi; Klämbt, Christian
2014-12-24
The analysis of neuronal network function requires a reliable measurement of behavioral traits. Since the behavior of freely moving animals is variable to a certain degree, many animals have to be analyzed, to obtain statistically significant data. This in turn requires a computer assisted automated quantification of locomotion patterns. To obtain high contrast images of almost translucent and small moving objects, a novel imaging technique based on frustrated total internal reflection called FIM was developed. In this setup, animals are only illuminated with infrared light at the very specific position of contact with the underlying crawling surface. This methodology results in very high contrast images. Subsequently, these high contrast images are processed using established contour tracking algorithms. Based on this, we developed the FIMTrack software, which serves to extract a number of features needed to quantitatively describe a large variety of locomotion characteristics. During the development of this software package, we focused our efforts on an open source architecture allowing the easy addition of further modules. The program operates platform independent and is accompanied by an intuitive GUI guiding the user through data analysis. All locomotion parameter values are given in form of csv files allowing further data analyses. In addition, a Results Viewer integrated into the tracking software provides the opportunity to interactively review and adjust the output, as might be needed during stimulus integration. The power of FIM and FIMTrack is demonstrated by studying the locomotion of Drosophila larvae.
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The application of high-speed cinematography for the quantitative analysis of equine locomotion.
Fredricson, I; Drevemo, S; Dalin, G; Hjertën, G; Björne, K
1980-04-01
Locomotive disorders constitute a serious problem in horse racing which will only be rectified by a better understanding of the causative factors associated with disturbances of gait. This study describes a system for the quantitative analysis of the locomotion of horses at speed. The method is based on high-speed cinematography with a semi-automatic system of analysis of the films. The recordings are made with a 16 mm high-speed camera run at 500 frames per second (fps) and the films are analysed by special film-reading equipment and a mini-computer. The time and linear gait variables are presented in tabular form and the angles and trajectories of the joints and body segments are presented graphically.
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A Reconfigurable Omnidirectional Soft Robot Based on Caterpillar Locomotion.
Zou, Jun; Lin, Yangqiao; Ji, Chen; Yang, Huayong
2018-04-01
A pneumatically powered, reconfigurable omnidirectional soft robot based on caterpillar locomotion is described. The robot is composed of nine modules arranged as a three by three matrix and the length of this matrix is 154 mm. The robot propagates a traveling wave inspired by caterpillar locomotion, and it has all three degrees of freedom on a plane (X, Y, and rotation). The speed of the robot is about 18.5 m/h (two body lengths per minute) and it can rotate at a speed of 1.63°/s. The modules have neodymium-iron-boron (NdFeB) magnets embedded and can be easily replaced or combined into other configurations. Two different configurations are presented to demonstrate the possibilities of the modular structure: (1) by removing some modules, the omnidirectional robot can be reassembled into a form that can crawl in a pipe and (2) two omnidirectional robots can crawl close to each other and be assembled automatically into a bigger omnidirectional robot. Omnidirectional motion is important for soft robots to explore unstructured environments. The modular structure gives the soft robot the ability to cope with the challenges of different environments and tasks.
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Desrochers, Étienne; Thibaudier, Yann; Hurteau, Marie‐France; Dambreville, Charline
2016-01-01
Key points Coordination between the left and right sides is essential for dynamic stability during locomotion.The immature or neonatal mammalian spinal cord can adjust to differences in speed between the left and right sides during split‐belt locomotion by taking more steps on the fast side.We show that the adult mammalian spinal cord can also adjust its output so that the fast side can take more steps.During split‐belt locomotion, only certain parts of the cycle are modified to adjust left–right coordination, primarily those associated with swing onset.When the fast limb takes more steps than the slow limb, strong left–right interactions persist.Therefore, the adult mammalian spinal cord has a remarkable adaptive capacity for left–right coordination, from simple to extreme conditions. Abstract Although left–right coordination is essential for locomotion, its control is poorly understood, particularly in adult mammals. To investigate the spinal control of left–right coordination, a spinal transection was performed in six adult cats that were then trained to recover hindlimb locomotion. Spinal cats performed tied‐belt locomotion from 0.1 to 1.0 m s−1 and split‐belt locomotion with low to high (1:1.25–10) slow/fast speed ratios. With the left hindlimb stepping at 0.1 m s−1 and the right hindlimb stepping from 0.2 to 1.0 m s−1, 1:1, 1:2, 1:3, 1:4 and 1:5 left–right step relationships could appear. The appearance of 1:2+ relationships was not linearly dependent on the difference in speed between the slow and fast belts. The last step taken by the fast hindlimb displayed longer cycle, stance and swing durations and increased extensor activity, as the slow limb transitioned to swing. During split‐belt locomotion with 1:1, 1:2 and 1:3 relationships, the timing of stance onset of the fast limb relative to the slow limb and placement of both limbs at contact were invariant with increasing slow/fast speed ratios. In contrast, the timing of
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Human regulatory B cells control the TFH cell response.
Achour, Achouak; Simon, Quentin; Mohr, Audrey; Séité, Jean-François; Youinou, Pierre; Bendaoud, Boutahar; Ghedira, Ibtissem; Pers, Jacques-Olivier; Jamin, Christophe
2017-07-01
Follicular helper T (T FH ) cells support terminal B-cell differentiation. Human regulatory B (Breg) cells modulate cellular responses, but their control of T FH cell-dependent humoral immune responses is unknown. We sought to assess the role of Breg cells on T FH cell development and function. Human T cells were polyclonally stimulated in the presence of IL-12 and IL-21 to generate T FH cells. They were cocultured with B cells to induce their terminal differentiation. Breg cells were included in these cultures, and their effects were evaluated by using flow cytometry and ELISA. B-cell lymphoma 6, IL-21, inducible costimulator, CXCR5, and programmed cell death protein 1 (PD-1) expressions increased on stimulated human T cells, characterizing T FH cell maturation. In cocultures they differentiated B cells into CD138 + plasma and IgD - CD27 + memory cells and triggered immunoglobulin secretions. Breg cells obtained by Toll-like receptor 9 and CD40 activation of B cells prevented T FH cell development. Added to T FH cell and B-cell cocultures, they inhibited B-cell differentiation, impeded immunoglobulin secretions, and expanded Foxp3 + CXCR5 + PD-1 + follicular regulatory T cells. Breg cells modulated IL-21 receptor expressions on T FH cells and B cells, and their suppressive activities involved CD40, CD80, CD86, and intercellular adhesion molecule interactions and required production of IL-10 and TGF-β. Human Breg cells control T FH cell maturation, expand follicular regulatory T cells, and inhibit the T FH cell-mediated antibody secretion. These novel observations demonstrate a role for the Breg cell in germinal center reactions and suggest that deficient activities might impair the T FH cell-dependent control of humoral immunity and might lead to the development of aberrant autoimmune responses. Copyright © 2016 American Academy of Allergy, Asthma & Immunology. Published by Elsevier Inc. All rights reserved.
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T-cell response in human leishmaniasis
DEFF Research Database (Denmark)
Kharazmi, A; Kemp, K; Ismail, A
1999-01-01
In the present communication we provide evidence for the existence of a Th1/Th2 dichotomy in the T-cell response to Leishmania antigens in human leishmaniasis. Our data suggest that the pattern of IL-4 and IFN-gamma response is polarised in these patients. Lymphocytes from individuals recovered...... from cutaneous leishmaniasis (CL) responded by IFN-gamma production following stimulation with Leishmania antigens whereas cells from patients recovered from visceral leishmaniasis (VL) showed a mixed pattern of IFN-gamma and IL-4 responses. The cells producing these cytokines were predominantly CD4......+. Furthermore, IL-10 plays an important role in the development of post kala azar dermal leishmaniasis (PKDL) from VL. The balance between the parasitic-specific T-cell response plays an important regulatory role in determining the outcome of Leishmania infections in humans....
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Manual and automatic locomotion scoring systems in dairy cows: A review
Schlageter-Tello, A.; Bokkers, E.A.M.; Groot Koerkamp, P.W.G.; Hertem, van T.; Viazzi, S.; Romanini Bites, E.; Halachmi, I.; Bahr, C.; Berckmans, D.; Lokhorst, K.
2014-01-01
The objective of this review was to describe, compare and evaluate agreement, reliability, and validity of manual and automatic locomotion scoring systems (MLSSs and ALSSs, respectively) used in dairy cattle lameness research. There are many different types of MLSSs and ALSSs. Twenty-five MLSSs were
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Wuehr, M; Schniepp, R; Pradhan, C; Ilmberger, J; Strupp, M; Brandt, T; Jahn, K
2013-01-01
Healthy persons exhibit relatively small temporal and spatial gait variability when walking unimpeded. In contrast, patients with a sensory deficit (e.g., polyneuropathy) show an increased gait variability that depends on speed and is associated with an increased fall risk. The purpose of this study was to investigate the role of vision in gait stabilization by determining the effects of withdrawing visual information (eyes closed) on gait variability at different locomotion speeds. Ten healthy subjects (32.2 ± 7.9 years, 5 women) walked on a treadmill for 5-min periods at their preferred walking speed and at 20, 40, 70, and 80 % of maximal walking speed during the conditions of walking with eyes open (EO) and with eyes closed (EC). The coefficient of variation (CV) and fractal dimension (α) of the fluctuations in stride time, stride length, and base width were computed and analyzed. Withdrawing visual information increased the base width CV for all walking velocities (p < 0.001). The effects of absent visual information on CV and α of stride time and stride length were most pronounced during slow locomotion (p < 0.001) and declined during fast walking speeds. The results indicate that visual feedback control is used to stabilize the medio-lateral (i.e., base width) gait parameters at all speed sections. In contrast, sensory feedback control in the fore-aft direction (i.e., stride time and stride length) depends on speed. Sensory feedback contributes most to fore-aft gait stabilization during slow locomotion, whereas passive biomechanical mechanisms and an automated central pattern generation appear to control fast locomotion.
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Martinez, Andrew S.; Brouwer, Jacob; Samuelsen, G. Scott
2012-09-01
This work presents the development of a dynamic SOFC-GT hybrid system model applied to a long-haul freight locomotive in operation. Given the expectations of the rail industry, the model is used to develop a preliminary analysis of the proposed system's operational capability on conventional diesel fuel as well as natural gas and hydrogen as potential fuels in the future. It is found that operation of the system on all three of these fuels is feasible with favorable efficiencies and reasonable dynamic response. The use of diesel fuel reformate in the SOFC presents a challenge to the electrochemistry, especially as it relates to control and optimization of the fuel utilization in the anode compartment. This is found to arise from the large amount of carbon monoxide in diesel reformate that is fed to the fuel cell, limiting the maximum fuel utilization possible. This presents an opportunity for further investigations into carbon monoxide electrochemical oxidation and/or system integration studies where the efficiency of the fuel reformer can be balanced against the needs of the SOFC.
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Scaling in Theropod Dinosaurs: Femoral Bone Strength and Locomotion II
Lee, Scott
2015-01-01
In the second paper of this series, the effect of transverse femoral stresses due to locomotion in theropod dinosaurs of different sizes was examined for the case of an unchanging leg geometry. Students are invariably thrilled to learn about theropod dinosaurs, and this activity applies the concepts of torque and stress to the issue of theropod…
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Analysis of emotionality and locomotion in radio-frequency electromagnetic radiation exposed rats.
Narayanan, Sareesh Naduvil; Kumar, Raju Suresh; Paval, Jaijesh; Kedage, Vivekananda; Bhat, M Shankaranarayana; Nayak, Satheesha; Bhat, P Gopalakrishna
2013-07-01
In the current study the modulatory role of mobile phone radio-frequency electromagnetic radiation (RF-EMR) on emotionality and locomotion was evaluated in adolescent rats. Male albino Wistar rats (6-8 weeks old) were randomly assigned into the following groups having 12 animals in each group. Group I (Control): they remained in the home cage throughout the experimental period. Group II (Sham exposed): they were exposed to mobile phone in switch-off mode for 28 days, and Group III (RF-EMR exposed): they were exposed to RF-EMR (900 MHz) from an active GSM (Global system for mobile communications) mobile phone with a peak power density of 146.60 μW/cm(2) for 28 days. On 29th day, the animals were tested for emotionality and locomotion. Elevated plus maze (EPM) test revealed that, percentage of entries into the open arm, percentage of time spent on the open arm and distance travelled on the open arm were significantly reduced in the RF-EMR exposed rats. Rearing frequency and grooming frequency were also decreased in the RF-EMR exposed rats. Defecation boli count during the EPM test was more with the RF-EMR group. No statistically significant difference was found in total distance travelled, total arm entries, percentage of closed arm entries and parallelism index in the RF-EMR exposed rats compared to controls. Results indicate that mobile phone radiation could affect the emotionality of rats without affecting the general locomotion.
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BiLBIQ A Biologically Inspired Robot with Walking and Rolling Locomotion
King, Ralf Simon
2013-01-01
The book ‘BiLBIQ: A biologically inspired Robot with walking and rolling locomotion’ deals with implementing a locomotion behavior observed in the biological archetype Cebrennus villosus to a robot prototype whose structural design needs to be developed. The biological sample is investigated as far as possible and compared to other evolutional solutions within the framework of nature’s inventions. Current achievements in robotics are examined and evaluated for their relation and relevance to the robot prototype in question. An overview of what is state of the art in actuation ensures the choice of the hardware available and most suitable for this project. Through a constant consideration of the achievement of two fundamentally different ways of locomotion with one and the same structure, a robot design is developed and constructed taking hardware constraints into account. The development of a special leg structure that needs to resemble and replace body elements of the biological archetype is a speci...
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Electroencephalography(EEG)-based instinctive brain-control of a quadruped locomotion robot.
Jia, Wenchuan; Huang, Dandan; Luo, Xin; Pu, Huayan; Chen, Xuedong; Bai, Ou
2012-01-01
Artificial intelligence and bionic control have been applied in electroencephalography (EEG)-based robot system, to execute complex brain-control task. Nevertheless, due to technical limitations of the EEG decoding, the brain-computer interface (BCI) protocol is often complex, and the mapping between the EEG signal and the practical instructions lack of logic associated, which restrict the user's actual use. This paper presents a strategy that can be used to control a quadruped locomotion robot by user's instinctive action, based on five kinds of movement related neurophysiological signal. In actual use, the user drives or imagines the limbs/wrists action to generate EEG signal to adjust the real movement of the robot according to his/her own motor reflex of the robot locomotion. This method is easy for real use, as the user generates the brain-control signal through the instinctive reaction. By adopting the behavioral control of learning and evolution based on the proposed strategy, complex movement task may be realized by instinctive brain-control.
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To solve the specific emissions of locomotive diesel engines. Final report
International Nuclear Information System (INIS)
Korhonen, R.; Maeaettaenen, M.
1999-01-01
Ministry of Transport has made a goal to create an uniform system to make it possible to compare emissions of different transport forms. Kymenlaakso Polytechnic was supported by the Mobile Research Programme to measure the specific emissions of locomotive diesel engines. VR Osakeyhtioe has also supported economically the research work. During the research specific emissions of three diesel engines used in locomotives and calculated according to ISO 8178 standard were measured. In all, emissions of 14 engines were measured. For 12 engines measurements were made after the engine shop repair and for two engines before the repairing. Gaseous emissions: nitric oxide, carbon monoxide, carbon dioxide and total hydrocarbons contents were measured. Based on measured emissions and sulphur contents of the oil the weighted emissions were calculated in units g/kWh and g/kg fuel . Particular emissions were measured with dilution method and specific emissions were calculated in same units as for gaseous emissions
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Design of a biped locomotion controller based on adaptive neuro-fuzzy inference systems
Energy Technology Data Exchange (ETDEWEB)
Shieh, M-Y; Chang, K-H [Department of E. E., Southern Taiwan University, 1 Nantai St., YungKang City, Tainan County 71005, Taiwan (China); Lia, Y-S [Executive Director Office, ITRI, Southern Taiwan Innovation Park, Tainan County, Taiwan (China)], E-mail: myshieh@mail.stut.edu.tw
2008-02-15
This paper proposes a method for the design of a biped locomotion controller based on the ANFIS (Adaptive Neuro-Fuzzy Inference System) inverse learning model. In the model developed here, an integrated ANFIS structure is trained to function as the system identifier for the modeling of the inverse dynamics of a biped robot. The parameters resulting from the modeling process are duplicated and integrated as those of the biped locomotion controller to provide favorable control action. As the simulation results show, the proposed controller is able to generate a stable walking cycle for a biped robot. Moreover, the experimental results demonstrate that the performance of the proposed controller is satisfactory under conditions when the robot stands in different postures or moves on a rugged surface.
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Design of a biped locomotion controller based on adaptive neuro-fuzzy inference systems
International Nuclear Information System (INIS)
Shieh, M-Y; Chang, K-H; Lia, Y-S
2008-01-01
This paper proposes a method for the design of a biped locomotion controller based on the ANFIS (Adaptive Neuro-Fuzzy Inference System) inverse learning model. In the model developed here, an integrated ANFIS structure is trained to function as the system identifier for the modeling of the inverse dynamics of a biped robot. The parameters resulting from the modeling process are duplicated and integrated as those of the biped locomotion controller to provide favorable control action. As the simulation results show, the proposed controller is able to generate a stable walking cycle for a biped robot. Moreover, the experimental results demonstrate that the performance of the proposed controller is satisfactory under conditions when the robot stands in different postures or moves on a rugged surface
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A remotely-controlled locomotive IC driven by electrolytic bubbles and wireless powering.
Hsieh, Jian-Yu; Kuo, Po-Hung; Huang, Yi-Chun; Huang, Yu-Jie; Tsai, Rong-Da; Wang, Tao; Chiu, Hung-Wei; Wang, Yao-Hung; Lu, Shey-Shi
2014-12-01
A batteryless remotely-controlled locomotive IC utilizing electrolytic bubbles as propelling force is realized in 0.35 μm CMOS technology. Without any external components, such as magnets and on-board coils, the bare IC is wirelessly powered and controlled by a 10 MHz ASK modulated signal with RS232 control commands to execute movement in four moving directions and with two speeds. The receiving coil and electrolysis electrodes are all integrated on the locomotive chip. The experiment successfully demonstrated that the bare IC moved on the surface of an electrolyte with a speed up to 0.3 mm/s and change moving directions according to the commands. The total power consumptions of the chip are 207.4 μW and 180 μ W while the output electrolysis voltages are 2 V and 1.3 V, respectively.
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Using Computational and Mechanical Models to Study Animal Locomotion
Miller, Laura A.; Goldman, Daniel I.; Hedrick, Tyson L.; Tytell, Eric D.; Wang, Z. Jane; Yen, Jeannette; Alben, Silas
2012-01-01
Recent advances in computational methods have made realistic large-scale simulations of animal locomotion possible. This has resulted in numerous mathematical and computational studies of animal movement through fluids and over substrates with the purpose of better understanding organisms’ performance and improving the design of vehicles moving through air and water and on land. This work has also motivated the development of improved numerical methods and modeling techniques for animal locom...
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Markerless 3D motion capture for animal locomotion studies
William Irvin Sellers; Eishi Hirasaki
2014-01-01
ABSTRACT Obtaining quantitative data describing the movements of animals is an essential step in understanding their locomotor biology. Outside the laboratory, measuring animal locomotion often relies on video-based approaches and analysis is hampered because of difficulties in calibration and often the limited availability of possible camera positions. It is also usually restricted to two dimensions, which is often an undesirable over-simplification given the essentially three-dimensional na...
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Calcagno, B; Eyles, D; van Alphen, B; van Swinderen, B
2013-01-08
It has been observed that certain developmental environmental risk factors for schizophrenia when modeled in rodents alter the trajectory of dopaminergic development, leading to persistent behavioural changes in adults. This has recently been articulated as the "dopamine ontogeny hypothesis of schizophrenia". To test one aspect of this hypothesis, namely that transient dopaminergic effects during development modulate attention-like behavior and arousal in adults, we turned to a small-brain model, Drosophila melanogaster. By applying genetic tools allowing transient activation or silencing of dopaminergic neurons in the fly brain, we investigated whether a critical window exists during development when altered dopamine (DA) activity levels could lead to impairments in arousal states in adult animals. We found that increased activity in dopaminergic neurons in later stages of development significantly increased visual responsiveness and locomotion, especially in adult males. This misallocation of visual salience and hyperactivity mimicked the effect of acute methamphetamine feeding to adult flies, suggesting up-regulated DA signaling could result from developmental manipulations. Finally, brain recordings revealed significantly reduced gamma-band activity in adult animals exposed to the transient developmental insult. Together, these data support the idea that transient alterations in DA signaling during development can permanently alter behavior in adults, and that a reductionist model such as Drosophila can be used to investigate potential mechanisms underlying complex cognitive disorders such as schizophrenia.
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DEFF Research Database (Denmark)
Manoonpong, Poramate; Parlitz, Ulrich; Wörgötter, Florentin
2013-01-01
such natural properties with artificial legged locomotion systems by using different approaches including machine learning algorithms, classical engineering control techniques, and biologically-inspired control mechanisms. However, their levels of performance are still far from the natural ones. By contrast...... on sensory feedback and adaptive neural forward models with efference copies. This neural closed-loop controller enables a walking machine to perform a multitude of different walking patterns including insect-like leg movements and gaits as well as energy-efficient locomotion. In addition, the forward models...... allow the machine to autonomously adapt its locomotion to deal with a change of terrain, losing of ground contact during stance phase, stepping on or hitting an obstacle during swing phase, leg damage, and even to promote cockroach-like climbing behavior. Thus, the results presented here show...
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Grasso, R; Zago, M; Lacquaniti, F
2000-01-01
Human erect locomotion is unique among living primates. Evolution selected specific biomechanical features that make human locomotion mechanically efficient. These features are matched by the motor patterns generated in the CNS. What happens when humans walk with bent postures? Are normal motor patterns of erect locomotion maintained or completely reorganized? Five healthy volunteers walked straight and forward at different speeds in three different postures (regular, knee-flexed, and knee- and trunk-flexed) while their motion, ground reaction forces, and electromyographic (EMG) activity were recorded. The three postures imply large differences in the position of the center of body mass relative to the body segments. The elevation angles of the trunk, pelvis, and lower limb segments relative to the vertical in the sagittal plane, the ground reaction forces and the rectified EMGs were analyzed over the gait cycle. The waveforms of the elevation angles along the gait cycle remained essentially unchanged irrespective of the adopted postures. The first two harmonics of these kinematic waveforms explain >95% of their variance. The phase shift but not the amplitude ratio between the first harmonic of the elevation angle waveforms of adjacent pairs was affected systematically by changes in posture. Thigh, shank, and foot angles covaried close to a plane in all conditions, but the plane orientation was systematically different in bent versus erect locomotion. This was explained by the changes in the temporal coupling among the three segments. For walking speeds >1 m s(-1), the plane orientation of bent locomotion indicates a much lower mechanical efficiency relative to erect locomotion. Ground reaction forces differed prominently in bent versus erect posture displaying characteristics intermediate between those typical of walking and those of running. Mean EMG activity was greater in bent postures for all recorded muscles independent of the functional role. The waveforms
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Fuel cell mining vehicles: design, performance and advantages
International Nuclear Information System (INIS)
Betournay, M.C.; Miller, A.R.; Barnes, D.L.
2003-01-01
The potential for using fuel cell technology in underground mining equipment was discussed with reference to the risks associated with the operation of hydrogen vehicles, hydrogen production and hydrogen delivery systems. This paper presented some of the initiatives for mine locomotives and fuel cell stacks for underground environments. In particular, it presents the test results of the first applied industrial fuel cell vehicle in the world, a mining and tunneling locomotive. This study was part of an international initiative managed by the Fuel Cell Propulsion Institute which consists of several mining companies, mining equipment manufacturers, and fuel cell technology developers. Some of the obvious benefits of fuel cells for underground mining operations include no exhaust gases, lower electrical costs, significantly reduced maintenance, and lower ventilation costs. Another advantage is that the technology can be readily automated and computer-based for tele-remote operations. This study also quantified the cost and operational benefits associated with fuel cell vehicles compared to diesel vehicles. It is expected that higher vehicle productivity could render fuel cell underground vehicles cost-competitive. 6 refs., 1 tab
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Continuum limbed robots for locomotion
Mutlu, Alper
This thesis focuses on continuum robots based on pneumatic muscle technology. We introduce a novel approach to use these muscles as limbs of lightweight legged robots. The flexibility of the continuum legs of these robots offers the potential to perform some duties that are not possible with classical rigid-link robots. Potential applications are as space robots in low gravity, and as cave explorer robots. The thesis covers the fabrication process of continuum pneumatic muscles and limbs. It also provides some new experimental data on this technology. Afterwards, the designs of two different novel continuum robots - one tripod, one quadruped - are introduced. Experimental data from tests using the robots is provided. The experimental results are the first published example of locomotion with tripod and quadruped continuum legged robots. Finally, discussion of the results and how far this technology can go forward is presented.
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Locomotion and the Cost of Hunting in Large, Stealthy Marine Carnivores.
Williams, Terrie M; Fuiman, Lee A; Davis, Randall W
2015-10-01
Foraging by large (>25 kg), mammalian carnivores often entails cryptic tactics to surreptitiously locate and overcome highly mobile prey. Many forms of intermittent locomotion from stroke-and-glide maneuvers by marine mammals to sneak-and-pounce behaviors by terrestrial canids, ursids, and felids are involved. While affording proximity to vigilant prey, these tactics are also associated with unique energetic costs and benefits to the predator. We examined the energetic consequences of intermittent locomotion in mammalian carnivores and assessed the role of these behaviors in overall foraging efficiency. Behaviorally-linked, three-axis accelerometers were calibrated to provide instantaneous locomotor behaviors and associated energetic costs for wild adult Weddell seals (Leptonychotes weddellii) diving beneath the Antarctic ice. The results were compared with previously published values for other marine and terrestrial carnivores. We found that intermittent locomotion in the form of extended glides, burst-and-glide swimming, and rollercoaster maneuvers while hunting silverfish (Pleuragramma antarcticum) resulted in a marked energetic savings for the diving seals relative to continuously stroking. The cost of a foraging dive by the seals decreased by 9.2-59.6%, depending on the proportion of time gliding. These energetic savings translated into exceptionally low transport costs during hunting (COTHUNT) for diving mammals. COTHUNT for Weddell seals was nearly six times lower than predicted for large terrestrial carnivores, and demonstrates the importance of turning off the propulsive machinery to facilitate cost-efficient foraging in highly active, air-breathing marine predators. © The Author 2015. Published by Oxford University Press on behalf of the Society for Integrative and Comparative Biology. All rights reserved. For permissions please email: journals.permissions@oup.com.
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Natural killer cells promote early CD8 T cell responses against cytomegalovirus.
Directory of Open Access Journals (Sweden)
Scott H Robbins
2007-08-01
Full Text Available Understanding the mechanisms that help promote protective immune responses to pathogens is a major challenge in biomedical research and an important goal for the design of innovative therapeutic or vaccination strategies. While natural killer (NK cells can directly contribute to the control of viral replication, whether, and how, they may help orchestrate global antiviral defense is largely unknown. To address this question, we took advantage of the well-defined molecular interactions involved in the recognition of mouse cytomegalovirus (MCMV by NK cells. By using congenic or mutant mice and wild-type versus genetically engineered viruses, we examined the consequences on antiviral CD8 T cell responses of specific defects in the ability of the NK cells to control MCMV. This system allowed us to demonstrate, to our knowledge for the first time, that NK cells accelerate CD8 T cell responses against a viral infection in vivo. Moreover, we identify the underlying mechanism as the ability of NK cells to limit IFN-alpha/beta production to levels not immunosuppressive to the host. This is achieved through the early control of cytomegalovirus, which dramatically reduces the activation of plasmacytoid dendritic cells (pDCs for cytokine production, preserves the conventional dendritic cell (cDC compartment, and accelerates antiviral CD8 T cell responses. Conversely, exogenous IFN-alpha administration in resistant animals ablates cDCs and delays CD8 T cell activation in the face of NK cell control of viral replication. Collectively, our data demonstrate that the ability of NK cells to respond very early to cytomegalovirus infection critically contributes to balance the intensity of other innate immune responses, which dampens early immunopathology and promotes optimal initiation of antiviral CD8 T cell responses. Thus, the extent to which NK cell responses benefit the host goes beyond their direct antiviral effects and extends to the prevention of innate
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Wong, Kuan Y; Baron, Rebecca; Seldon, Therese A; Jones, Martina L; Rice, Alison M; Munster, David J
2018-05-15
Anti-CD83 Ab capable of Ab-dependent cellular cytotoxicity can deplete activated CD83 + human dendritic cells, thereby inhibiting CD4 T cell-mediated acute graft-versus-host disease. As CD83 is also expressed on the surface of activated B lymphocytes, we hypothesized that anti-CD83 would also inhibit B cell responses to stimulation. We found that anti-CD83 inhibited total IgM and IgG production in vitro by allostimulated human PBMC. Also, Ag-specific Ab responses to immunization of SCID mice xenografted with human PBMC were inhibited by anti-CD83 treatment. This inhibition occurred without depletion of all human B cells because anti-CD83 lysed activated CD83 + B cells by Ab-dependent cellular cytotoxicity and spared resting (CD83 - ) B cells. In cultured human PBMC, anti-CD83 inhibited tetanus toxoid-stimulated B cell proliferation and concomitant dendritic cell-mediated CD4 T cell proliferation and expression of IFN-γ and IL-17A, with minimal losses of B cells (80% of B cells but had no effect on CD4 T cell proliferation and cytokine expression. By virtue of the ability of anti-CD83 to selectively deplete activated, but not resting, B cells and dendritic cells, with the latter reducing CD4 T cell responses, anti-CD83 may be clinically useful in autoimmunity and transplantation. Advantages might include inhibited expansion of autoantigen- or alloantigen-specific B cells and CD4 T cells, thus preventing further production of pathogenic Abs and inflammatory cytokines while preserving protective memory and regulatory cells. Copyright © 2018 by The American Association of Immunologists, Inc.
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Gaze Strategies in Skateboard Trick Jumps: Spatiotemporal Constraints in Complex Locomotion
Klostermann, André; Küng, Philip
2017-01-01
Purpose: This study aimed to further the knowledge on gaze behavior in locomotion by studying gaze strategies in skateboard jumps of different difficulty that had to be performed either with or without an obstacle. Method: Nine experienced skateboarders performed "Ollie" and "Kickflip" jumps either over an obstacle or over a…
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Responses of Cells to Flow in Vitro
Directory of Open Access Journals (Sweden)
Shigehiro Hashimoto
2013-06-01
Full Text Available The response of cells to a flow has been studied in vitro. The response of cells was examined in two types of flow channels: a circumnutating flow in a donut-shaped open channel in a culture dish, and a one-way flow in a parallelepiped rhombus flow channel. Variation was made on the material of the parallelepiped channel to study on adhesion of cells to the plates: glass and polydimethylsiloxane. Behavior of cells on the plate was observed under a flow of a medium with an inverted phase-contrast-microscope. The shear stress on the plate is calculated with an estimated parabolic distribution of the velocity between the parallel plates. The adhesion of cells was evaluated with the cumulated shear, which is a product of the shear stress and the exposure time. The experimental results show that cells are responsive to the flow, which governs orientation, exfoliation, and differentiation. The response depends on the kinds of cells: endothelial cells orient along the stream line, although myocytes orient perpendicular to the stream line. The adhesion depends on the combination between scaffold and cell: myocytes are more adhesive to glass than cartilage cells, and fibroblasts are more adhesive to oxygenated polydimethylsiloxane than glass.
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Tamoxifen Promotes Axonal Preservation and Gait Locomotion Recovery after Spinal Cord Injury in Cats
Directory of Open Access Journals (Sweden)
Braniff de la Torre Valdovinos
2016-01-01
Full Text Available We performed experiments in cats with a spinal cord penetrating hemisection at T13-L1 level, with and without tamoxifen treatment. The results showed that the numbers of the ipsilateral and contralateral ventral horn neurons were reduced to less than half in the nontreated animals compared with the treated ones. Also, axons myelin sheet was preserved to almost normal values in treated cats. On the contrary, in the untreated animals, their myelin sheet was reduced to 28% at 30 days after injury (DAI, in both the ipsilateral and contralateral regions of the spinal cord. Additionally, we made hindlimb kinematics experiments to study the effects of tamoxifen on cat locomotion after the injury: at 4, 16, and 30 DAI. We observed that the ipsilateral hindlimb angular displacement (AD of the pendulum-like movements (PLM during gait locomotion was recovered to almost normal values in treated cats. Contralateral PLM acquired similar values to those obtained in intact cats. At 4 DAI, untreated animals showed a compensatory increment of PLM occurring in the contralateral hindlimb, which was partially recovered at 30 DAI. Our findings indicate that tamoxifen exerts a neuroprotective effect and preserves or produces myelinated axons, which could benefit the locomotion recovery in injured cats.
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Life-Cycle Assessment of the Use of Jatropha Biodiesel in Indian Locomotives (Revised)
Energy Technology Data Exchange (ETDEWEB)
Whitaker, M.; Heath, G.
2009-03-01
With India's transportation sector relying heavily on imported petroleum-based fuels, the Planning Commission of India and the Indian government recommended the increased use of blended biodiesel in transportation fleets, identifying Jatropha as a potentially important biomass feedstock. The Indian Oil Corporation and Indian Railways are collaborating to increase the use of biodiesel blends in Indian locomotives with blends of up to B20, aiming to reduce GHG emissions and decrease petroleum consumption. To help evaluate the potential for Jatropha-based biodiesel in achieving sustainability and energy security goals, this study examines the life cycle, net GHG emission, net energy ratio, and petroleum displacement impacts of integrating Jatropha-based biodiesel into locomotive operations in India. In addition, this study identifies the parameters that have the greatest impact on the sustainability of the system.
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Energy Technology Data Exchange (ETDEWEB)
Wintruff, Ingo; Reich, Christian; Geiselmann, Wolfgang; Gottschalch, Harald; Jansen, Eddy [MTU Friedrichshafen GmbH, Friedrichshafen (Germany)
2011-07-01
The emission limits for diesel locomotives inside the European Union are included within the scope of Directive 97/68/EC, which is sometimes referred to as the ''non-road directive''. The pollutants limited by it are NO{sub x}, particulates, CO and HCs. The aim, through the directive, is to reduce railway emissions by a factor of ten by the year 2020. The EU stage IIIB standard is due to take effect on 1 January 2012. This envisages a further drastic reduction in limit values compared with EU stage IIIA, which is applicable today. For diesel locomotives, EU stage IIIA only came into force as recently as 2009. The manufacturers of engines and locomotives are thus having to face up to the huge challenge of getting the technologies needed for EU stage IIIB ready for the production line within a period of only three years. MTU has succeeded in developing engines for diesel locomotives that comply with the EU stage IIIB emission standard, which appreciably lower emissions compared with engines satisfying EU stage IIIA, thanks to the incorporation of the most modern technologies available, and has even gone as far as preparing them for the EU stage IV, the next one to come into force. (orig.)
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Emergent behavior of cells on microfabricated soft polymeric substrates
Anand, Sandeep Venkit
In recent years, cell based bio-actuators like cardiomyocytes and skeletal muscle cells have emerged as popular choices for powering biological machines consisting of soft polymeric scaffolds at the micro and macro scales. This is owing to their unique ability to generate spontaneous, synchronous contractions either autonomously or under externally applied fields. Most of the biological machine designs reported in literature use single cells or cell clusters conjugated with biocompatible soft polymers like polydimethylsiloxane (PDMS) and hydrogels to produce some form of locomotion by converting chemical energy of the cells to mechanical energy. The mode of locomotion may vary, but the fundamental mechanism that these biological machines exploit to achieve locomotion stems from cell substrate interactions leading to large deformations of the substrates (relative to the cell size). However, the effect of such large scale, dynamic deformation of the substrates on the cellular and cluster level organization of the cells remains elusive. This dissertation tries to explore the emergent behavior of cells on different types of micro-scale deformable, soft polymeric substrates. In the first part of the dissertation, contractile dynamics of primary cardiomyocyte clusters is studied by culturing them on deformable thin polymeric films. The cell clusters beat and generate sufficient forces to deform the substrates out of plane. Over time, the clusters reorient their force dipoles along the direction of maximum compliance. This suggests that the cells are capable of sensing substrate deformations through a mechanosensitive feedback mechanism and dynamically reorganizing themselves. Results are further validated through finite element analysis. The development, characterization and quantification of a novel 1D/2D like polymeric platform for cell culture is presented in the second part. The platform consists of a 2D surface anchoring a long (few millimeters) narrow filament (1D
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Effects of shell morphology on mechanics of zebra and quagga mussel locomotion.
Peyer, Suzanne M; Hermanson, John C; Lee, Carol Eunmi
2011-07-01
Although zebra mussels (Dreissena polymorpha) initially colonized shallow habitats within the North American Great Lakes, quagga mussels (Dreissena bugensis) are becoming dominant in both shallow- and deep-water habitats. Shell morphology differs among zebra, shallow quagga and deep quagga mussels but functional consequences of such differences are unknown. We examined effects of shell morphology on locomotion for the three morphotypes on hard (typical of shallow habitats) and soft (characteristic of deep habitats) sedimentary substrates. We quantified morphology using the polar moment of inertia, a parameter used in calculating kinetic energy that describes shell area distribution and resistance to rotation. We quantified mussel locomotion by determining the ratio of rotational (K(rot)) to translational kinetic energy (K(trans)). On hard substrate, K(rot):K(trans) of deep quagga mussels was fourfold greater than for the other morphotypes, indicating greater energy expenditure in rotation relative to translation. On soft substrate, K(rot):K(trans) of deep quagga mussels was approximately one-third of that on hard substrate, indicating lower energy expenditure in rotation on soft substrate. Overall, our study demonstrates that shell morphology correlates with differences in locomotion (i.e. K(rot):K(trans)) among morphotypes. Although deep quagga mussels were similar to zebra and shallow quagga mussels in terms of energy expenditure on sedimentary substrate, their morphology was energetically maladaptive for linear movement on hard substrate. As quagga mussels can possess two distinct morphotypes (i.e. shallow and deep morphs), they might more effectively utilize a broader range of substrates than zebra mussels, potentially enhancing their ability to colonize a wider range of habitats.
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International Nuclear Information System (INIS)
Gwin, Jeremy; Frenette, Douglas
2010-01-01
This document contains process knowledge and radiological data and analysis to support approval for release of the 25-ton locomotive, Serial Number 21547, at the Area 25 Engine Maintenance, Assembly, and Disassembly (EMAD) Facility, located on the Nevada Test Site (NTS). The 25-ton locomotive is a small, one-of-a-kind locomotive used to move railcars in support of the Nuclear Engine for Rocket Vehicle Application project. This locomotive was identified as having significant historical value by the Nevada State Railroad Museum in Boulder City, Nevada, where it will be used as a display piece. A substantial effort to characterize the radiological conditions of the locomotive was undertaken by the NTS Management and Operations Contractor, National Security Technologies, LLC (NSTec). During this characterization process, seven small areas on the locomotive had contamination levels that exceeded the NTS release criteria (limits consistent with U.S. Department of Energy (DOE) Order DOE O 5400.5, 'Radiation Protection of the Public and the Environment'). The decision was made to perform radiological decontamination of these known accessible impacted areas to further the release process. On February 9, 2010, NSTec personnel completed decontamination of these seven areas to within the NTS release criteria. Although all accessible areas of the locomotive had been successfully decontaminated to within NTS release criteria, it was plausible that inaccessible areas of the locomotive (i.e., those areas on the locomotive where it was not possible to perform radiological surveys) could potentially have contamination above unrestricted release limits. To access the majority of these inaccessible areas, the locomotive would have to be disassembled. A complete disassembly for a full radiological survey could have permanently destroyed parts and would have ruined the historical value of the locomotive. Complete disassembly would also add an unreasonable financial burden for the
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Development of Independent Locomotion in Children with a Severe Visual Impairment
Hallemans, Ann; Ortibus, Els; Truijen, Steven; Meire, Francoise
2011-01-01
Locomotion of children and adults with a visual impairment (ages 1-44, n = 28) was compared to that of age-related individuals with normal vision (n = 60). Participants walked barefoot at preferred speed while their gait was recorded by a Vicon[R] system. Walking speed, heading angle, step frequency, stride length, step width, stance phase…
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The role of vortices in animal locomotion in fluids
Directory of Open Access Journals (Sweden)
Dvořák R.
2014-12-01
Full Text Available The aim of this paper is to show the significance of vortices in animal locomotion in fluids on two deliberately chosen examples. The first example concerns lift generation by bird and insect wings, the second example briefly mentiones swimming and walking on water. In all the examples, the vortices generated by the moving animal impart the necessary momentum to the surrounding fluid, the reaction to which is the force moving or lifting the animal.
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Improved Usability of Locomotion Devices Using Human-Centric Taxonomy
2009-03-01
the classification of interaction devices by the limbs used in the interaction rather than by arbitrary classifications, such as “ wand ”, or “glove...ABILITY REQUIREMENTS ANALYSIS USING F-JAS In Tables 5 through 8, we took the results of a sample HAR analysis done by Cockayne and Darken [13] comparing...point less than natural locomotion in all categories except for explosive strength, in which it receives 2 less points. 2. Decelerate from Walk or Jog
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DEFF Research Database (Denmark)
Dasgupta, Sakyasingha; Goldschmidt, Dennis; Wörgötter, Florentin
2015-01-01
here, an artificial bio-inspired walking system which effectively combines biomechanics (in terms of the body and leg structures) with the underlying neural mechanisms. The neural mechanisms consist of (1) central pattern generator based control for generating basic rhythmic patterns and coordinated......Walking animals, like stick insects, cockroaches or ants, demonstrate a fascinating range of locomotive abilities and complex behaviors. The locomotive behaviors can consist of a variety of walking patterns along with adaptation that allow the animals to deal with changes in environmental...... conditions, like uneven terrains, gaps, obstacles etc. Biological study has revealed that such complex behaviors are a result of a combination of biomechanics and neural mechanism thus representing the true nature of embodied interactions. While the biomechanics helps maintain flexibility and sustain...
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Autonomous undulatory serpentine locomotion utilizing body dynamics of a fluidic soft robot
International Nuclear Information System (INIS)
Onal, Cagdas D; Rus, Daniela
2013-01-01
Soft robotics offers the unique promise of creating inherently safe and adaptive systems. These systems bring man-made machines closer to the natural capabilities of biological systems. An important requirement to enable self-contained soft mobile robots is an on-board power source. In this paper, we present an approach to create a bio-inspired soft robotic snake that can undulate in a similar way to its biological counterpart using pressure for actuation power, without human intervention. With this approach, we develop an autonomous soft snake robot with on-board actuation, power, computation and control capabilities. The robot consists of four bidirectional fluidic elastomer actuators in series to create a traveling curvature wave from head to tail along its body. Passive wheels between segments generate the necessary frictional anisotropy for forward locomotion. It takes 14 h to build the soft robotic snake, which can attain an average locomotion speed of 19 mm s −1 . (paper)
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Fluid Flow Simulation and Energetic Analysis of Anomalocarididae Locomotion
Mikel-Stites, Maxwell; Staples, Anne
2014-11-01
While an abundance of animal locomotion simulations have been performed modeling the motions of living arthropods and aquatic animals, little quantitative simulation and reconstruction of gait parameters has been done to model the locomotion of extinct animals, many of which bear little physical resemblance to their modern descendants. To that end, this project seeks to analyze potential swimming patterns used by the anomalocaridid family, (specifically Anomalocaris canadensis, a Cambrian Era aquatic predator), and determine the most probable modes of movement. This will serve to either verify or cast into question the current assumed movement patterns and properties of these animals and create a bridge between similar flexible-bodied swimmers and their robotic counterparts. This will be accomplished by particle-based fluid flow simulations of the flow around the fins of the animal, as well as an energy analysis of a variety of sample gaits. The energy analysis will then be compared to the extant information regarding speed/energy use curves in an attempt to determine which modes of swimming were most energy efficient for a given range of speeds. These results will provide a better understanding of how these long-extinct animals moved, possibly allowing an improved understanding of their behavioral patterns, and may also lead to a novel potential platform for bio-inspired underwater autonomous vehicles (UAVs).
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Locomotion of bacteria in liquid flow and the boundary layer effect on bacterial attachment
International Nuclear Information System (INIS)
Zhang, Chao; Liao, Qiang; Chen, Rong; Zhu, Xun
2015-01-01
The formation of biofilm greatly affects the performance of biological reactors, which highly depends on bacterial swimming and attachment that usually takes place in liquid flow. Therefore, bacterial swimming and attachment on flat and circular surfaces with the consideration of flow was studied experimentally. Besides, a mathematical model comprehensively combining bacterial swimming and motion with flow is proposed for the simulation of bacterial locomotion and attachment in flow. Both experimental and theoretical results revealed that attached bacteria density increases with decreasing boundary layer thickness on both flat and circular surfaces, the consequence of which is inherently related to the competition between bacterial swimming and the non-slip motion with flow evaluated by the Péclet number. In the boundary layer, where the Péclet number is relatively higher, bacterial locomotion mainly depends on bacterial swimming. Thinner boundary layer promotes bacterial swimming towards the surface, leading to higher attachment density. To enhance the performance of biofilm reactors, it is effective to reduce the boundary layer thickness on desired surfaces. - Highlights: • Study of bacterial locomotion in flow as an early stage in biofilm formation. • Mathematical model combining bacterial swimming and the motion with flow. • Boundary layer plays a key role in bacterial attachment under flow condition. • The competition between bacterial swimming and the motion with flow is evaluated
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Locomotion of bacteria in liquid flow and the boundary layer effect on bacterial attachment
Energy Technology Data Exchange (ETDEWEB)
Zhang, Chao, E-mail: zhangchao@cqu.edu.cn [Key Laboratory of Low-grade Energy Utilization Technologies and Systems (Chongqing University), Ministry of Education, Chongqing 400030 (China); Institute of Engineering Thermophysics, Chongqing University, Chongqing 400030 (China); Liao, Qiang, E-mail: lqzx@cqu.edu.cn [Key Laboratory of Low-grade Energy Utilization Technologies and Systems (Chongqing University), Ministry of Education, Chongqing 400030 (China); Institute of Engineering Thermophysics, Chongqing University, Chongqing 400030 (China); Chen, Rong, E-mail: rchen@cqu.edu.cn [Key Laboratory of Low-grade Energy Utilization Technologies and Systems (Chongqing University), Ministry of Education, Chongqing 400030 (China); Institute of Engineering Thermophysics, Chongqing University, Chongqing 400030 (China); Zhu, Xun, E-mail: zhuxun@cqu.edu.cn [Key Laboratory of Low-grade Energy Utilization Technologies and Systems (Chongqing University), Ministry of Education, Chongqing 400030 (China); Institute of Engineering Thermophysics, Chongqing University, Chongqing 400030 (China)
2015-06-12
The formation of biofilm greatly affects the performance of biological reactors, which highly depends on bacterial swimming and attachment that usually takes place in liquid flow. Therefore, bacterial swimming and attachment on flat and circular surfaces with the consideration of flow was studied experimentally. Besides, a mathematical model comprehensively combining bacterial swimming and motion with flow is proposed for the simulation of bacterial locomotion and attachment in flow. Both experimental and theoretical results revealed that attached bacteria density increases with decreasing boundary layer thickness on both flat and circular surfaces, the consequence of which is inherently related to the competition between bacterial swimming and the non-slip motion with flow evaluated by the Péclet number. In the boundary layer, where the Péclet number is relatively higher, bacterial locomotion mainly depends on bacterial swimming. Thinner boundary layer promotes bacterial swimming towards the surface, leading to higher attachment density. To enhance the performance of biofilm reactors, it is effective to reduce the boundary layer thickness on desired surfaces. - Highlights: • Study of bacterial locomotion in flow as an early stage in biofilm formation. • Mathematical model combining bacterial swimming and the motion with flow. • Boundary layer plays a key role in bacterial attachment under flow condition. • The competition between bacterial swimming and the motion with flow is evaluated.
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Aussems, Suzanne; Kwok, Natasha; Kita, Sotaro
2018-06-01
Human locomotion is a fundamental class of events, and manners of locomotion (e.g., how the limbs are used to achieve a change of location) are commonly encoded in language and gesture. To our knowledge, there is no openly accessible database containing normed human locomotion stimuli. Therefore, we introduce the GestuRe and ACtion Exemplar (GRACE) video database, which contains 676 videos of actors performing novel manners of human locomotion (i.e., moving from one location to another in an unusual manner) and videos of a female actor producing iconic gestures that represent these actions. The usefulness of the database was demonstrated across four norming experiments. First, our database contains clear matches and mismatches between iconic gesture videos and action videos. Second, the male actors and female actors whose action videos matched the gestures in the best possible way, perform the same actions in very similar manners and different actions in highly distinct manners. Third, all the actions in the database are distinct from each other. Fourth, adult native English speakers were unable to describe the 26 different actions concisely, indicating that the actions are unusual. This normed stimuli set is useful for experimental psychologists working in the language, gesture, visual perception, categorization, memory, and other related domains.
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Directory of Open Access Journals (Sweden)
Falendysh Anatoliy
2017-01-01
Full Text Available In designing a traction vehicle it is necessary to take into account the type of field operation it is meant for. It was found out that during shunting operation a ChME3 diesel locomotive is in idling mode for almost half of its general running time. That is why, the introduction of a less powerful engine along with an energy storage device for shunting operations at a shunting diesel locomotive is appropriate. The calculations were made using a modernized shunting diesel locomotive ChME3 with hybrid transmission of power as an example. The dependences of the general running time of a diesel locomotive on the position of the engine driver controller under performing shunting, transportation and hump operation were given in percentages. For every operation mode there was calculated the optimum power of a diesel-generator plant and the optimum energy capacity of an energy storage system taking into account the above-mentioned dependences. It was found out that due to the introduction of a hybrid drive for the section discussed above and the corresponding mass of a train the aggregate fuel consumption will be reduced by 25% and the efficiency of travel will increase by one third.
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The Effects of Natural Locomotion on Maneuvering Task Performance in Virtual and Real Environments
National Research Council Canada - National Science Library
Unguder, Eray
2001-01-01
... treadmill. The motivation for the development of locomotion devices thus far has been driven by the assumption that a The "perfect" device will result in human performance levels comparable to the real world...
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iNKT cells suppress the CD8+ T cell response to a murine Burkitt's-like B cell lymphoma.
Directory of Open Access Journals (Sweden)
Ryan L Bjordahl
Full Text Available The T cell response to B cell lymphomas differs from the majority of solid tumors in that the malignant cells themselves are derived from B lymphocytes, key players in immune response. B cell lymphomas are therefore well situated to manipulate their surrounding microenvironment to enhance tumor growth and minimize anti-tumor T cell responses. We analyzed the effect of T cells on the growth of a transplantable B cell lymphoma and found that iNKT cells suppressed the anti-tumor CD8(+ T cell response. Lymphoma cells transplanted into syngeneic wild type (WT mice or Jalpha18(-/- mice that specifically lack iNKT cells grew initially at the same rate, but only the mice lacking iNKT cells were able to reject the lymphoma. This effect was due to the enhanced activity of tumor-specific CD8(+ T cells in the absence of iNKT cells, and could be partially reversed by reconstitution of iNKT cells in Jalpha 18(-/- mice. Treatment of tumor-bearing WT mice with alpha -galactosyl ceramide, an activating ligand for iNKT cells, reduced the number of tumor-specific CD8(+ T cells. In contrast, lymphoma growth in CD1d1(-/- mice that lack both iNKT and type II NKT cells was similar to that in WT mice, suggesting that type II NKT cells are required for full activation of the anti-tumor immune response. This study reveals a tumor-promoting role for iNKT cells and suggests their capacity to inhibit the CD8(+ T cell response to B cell lymphoma by opposing the effects of type II NKT cells.
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Dynamic legged locomotion in robots and animals
Raibert, Marc; Playter, Robert; Ringrose, Robert; Bailey, Dave; Leeser, Karl
1995-01-01
This report documents our study of active legged systems that balance actively and move dynamically. The purpose of this research is to build a foundation of knowledge that can lead both to the construction of useful legged vehicles and to a better understanding of how animal locomotion works. In this report we provide an update on progress during the past year. Here are the topics covered in this report: (1) Is cockroach locomotion dynamic? To address this question we created three models of cockroaches, each abstracted at a different level. We provided each model with a control system and computer simulation. One set of results suggests that 'Groucho Running,' a type of dynamic walking, seems feasible at cockroach scale. (2) How do bipeds shift weight between the legs? We built a simple planar biped robot specifically to explore this question. It shifts its weight from one curved foot to the other, using a toe-off and toe-on strategy, in conjunction with dynamic tipping. (3) 3D biped gymnastics: The 3D biped robot has done front somersaults in the laboratory. The robot changes its leg length in flight to control rotation rate. This in turn provides a mechanism for controlling the landing attitude of the robot once airborne. (4) Passively stabilized layout somersault: We have found that the passive structure of a gymnast, the configuration of masses and compliances, can stabilize inherently unstable maneuvers. This means that body biomechanics could play a larger role in controlling behavior than is generally thought. We used a physical 'doll' model and computer simulation to illustrate the point. (5) Twisting: Some gymnastic maneuvers require twisting. We are studying how to couple the biomechanics of the system to its control to produce efficient, stable twisting maneuvers.
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Influence of AC system design on the realisation of tractive efforts by high adhesion locomotives
Spiryagin, Maksym; Wolfs, Peter; Cole, Colin; Stichel, Sebastian; Berg, Mats; Manfred, Plöchl
2017-08-01
The main task for heavy haul railway operators is to reduce the cost of exported minerals and enhance the long-term viability of rail transport operations through increasing productivity by running longer and heavier trains. The common opinion is that this is achievable by means of implementation of high adhesion locomotives with advanced AC traction technologies. Modern AC high adhesion locomotives are very complex mechatronic systems and can be designed with two alternative traction topologies of either bogie or individual axle controls. This paper describes a modelling approach for these two types of AC traction systems with the application of an advanced co-simulation methodology, where an electrical system and a traction algorithm are modelled in Matlab/Simulink, and a mechanical system is modelled in a multibody software package. Although the paper concentrates on the analysis of the functioning for these two types of traction control systems, the choice of reference slip values also has an influence on the performance of both systems. All these design variations and issues have been simulated for various adhesion conditions at the wheel-rail interface and their influence on the high traction performance of a locomotive equipped with two three-axle bogies has been discussed.
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Modeling posture-dependent leg actuation in sagittal plane locomotion
International Nuclear Information System (INIS)
Schmitt, J; Clark, J
2009-01-01
The spring loaded inverted pendulum template has been shown to accurately model the steady locomotion dynamics of a variety of running animals, and has served as the inspiration for an entire class of dynamic running robots. While the template models the leg dynamics by an energy-conserving spring, insects and animals have structures that dissipate, store and produce energy during a stance phase. Recent investigations into the spring-like properties of limbs, as well as animal response to drop-step perturbations, suggest that animals use their legs to manage energy storage and dissipation, and that this management is important for gait stability. In this paper, we extend our previous analysis of control of the spring loaded inverted pendulum template via changes in the leg touch-down angle to include energy variations during the stance phase. Energy variations are incorporated through leg actuation that varies the force-free leg length during the stance phase, yet maintains qualitatively correct force and velocity profiles. In contrast to the partially asymptotically stable gaits identified in previous analyses, incorporating energy and leg angle variations in this manner produces complete asymptotic stability. Drop-step perturbation simulations reveal that the control strategy is rather robust, with gaits recovering from drops of up to 30% of the nominal hip height.
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Locomotion and Grasping impairment in preschoolers with autism spectrum disorder
Directory of Open Access Journals (Sweden)
Francesca Fulceri
2015-08-01
Full Text Available Objective: To investigate expressiveness of motor impairment in autism spectrum disorder (ASD and its correlation with developmental and clinical features of ASD. Method: Thirty-five male preschoolers with ASD completed the Peabody Developmental Motor Scales-2 (PDMS-2; Folio and Fewell, 2000 and underwent a multidisciplinary assessment including medical examination, standardized assessment of cognitive abilities, administration of Autism_Diagnostic_Observation_Schedule (ADOS and a parent interview about adaptive skills. Results: Results revealed a substantial impairment in locomotion and grasping skills. Both fine and gross motor skills were significantly correlated with non verbal IQ and adaptive behaviours (p<0.01 but not with chronological age or ADOS scores. Children with weaker motor skills have greater cognitive and adaptive behaviours deficits. Conclusions: Motor development in ASD can be detected at preschool age and locomotion and grasping skills are substantially the most impaired area. These findings support the need to assess motor skills in preschoolers with ASD in addition to other developmental skill areas. Along with the increasingly acknowledged importance of motor skills for subsequent social, cognitive, and communicative development our findings support the need to consider motor intervention as a key area in therapeutic program to improve outcome in preschoolers with ASD.
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Effects of wearing lower leg compression sleeves on locomotion economy.
Kurz, Eduard; Anders, Christoph
2018-09-01
The purpose of this investigation was to assess the effect of compression sleeves on muscle activation cost during locomotion. Twenty-two recreationally active men (age: 25 ± 3 years) ran on a treadmill at four different speeds (ordered sequence of 2.8, 3.3, 2.2, and 3.9 m/s). The tests were performed without (control situation, CON) and while wearing specially designed lower leg compression sleeves (SL). Myoelectric activity of five lower leg muscles (tibialis anterior, fibularis longus, lateral and medial head of gastrocnemius, and soleus) was captured using Surface EMG. To assess muscle activation cost, the cumulative muscle activity per distance travelled (CMAPD) of the CON and SL situations was determined. Repeated measures analyses of variance were performed separately for each muscle. The analyses revealed a reduced lower leg muscle activation cost with respect to test situation for SL for all muscles (p 0.18). The respective significant reductions of CMAPD values during SL ranged between 4% and 16% and were largest at 2.8 m/s. The findings presented point towards an improved muscle activation cost while wearing lower leg compression sleeves during locomotion that have potential to postpone muscle fatigue.
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An evaluation of the use of mobile source emissions trading: Locomotive case study
International Nuclear Information System (INIS)
West, W.R.; Brazell, M.M.
1993-01-01
There are many proposals for generating mobil source credits for use by stationary and other sources. This paper examines the benefits and practicality of including locomotive rail emissions in proposed emissions trading programs in california. In particular, this paper examines (1) if trading of locomotive rail emissions will result in lower compliance costs for railroads than traditional open-quotes command and controlclose quotes approaches, and (2) if emissions trading programs provide large enough incentives to entice railroads to seek to meet or exceed expected emissions reduction open-quotes command and controlclose quotes targets. The paper also examines under what circumstances stationary sources would be willing to purchase mobile source credits from railroads, in order to offset some of the stationary source's emissions reductions requirements. Stated simply, this analysis examines whether proposed trading programs offer enough benefits to both trading partners to warrant their use
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Descending brain neurons in larval lamprey: Spinal projection patterns and initiation of locomotion
Shaw, Albert C.; Jackson, Adam W.; Holmes, Tamra; Thurman, Suzie; Davis, G.R.; McClellan, Andrew D.
2010-01-01
In larval lamprey, partial lesions were made in the rostral spinal cord to determine which spinal tracts are important for descending activation of locomotion and to identify descending brain neurons that project in these tracts. In whole animals and in vitro brain/spinal cord preparations, brain-initiated spinal locomotor activity was present when the lateral or intermediate spinal tracts were spared but usually was abolished when the medial tracts were spared. We previously showed that descending brain neurons are located in eleven cell groups, including reticulospinal (RS) neurons in the mesenecephalic reticular nucleus (MRN) as well as the anterior (ARRN), middle (MRRN), and posterior (PRRN) rhombencephalic reticular nuclei. Other descending brain neurons are located in the diencephalic (Di) as well as the anterolateral (ALV), dorsolateral (DLV), and posterolateral (PLV) vagal groups. In the present study, the Mauthner and auxillary Mauthner cells, most neurons in the Di, ALV, DLV, and PLV cell groups, and some neurons in the ARRN and PRRN had crossed descending axons. The majority of neurons projecting in medial spinal tracts included large identified Müller cells and neurons in the Di, MRN, ALV, and DLV. Axons of individual descending brain neurons usually did not switch spinal tracts, have branches in multiple tracts, or cross the midline within the rostral cord. Most neurons that projected in the lateral/intermediate spinal tracts were in the ARRN, MRRN, and PRRN. Thus, output neurons of the locomotor command system are distributed in several reticular nuclei, whose neurons project in relatively wide areas of the cord. PMID:20510243
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Kidd, Grahame J; Ohno, Nobuhiko; Trapp, Bruce D
2013-01-01
The fundamental roles of Schwann cells during peripheral nerve formation and regeneration have been recognized for more than 100 years, but the cellular and molecular mechanisms that integrate Schwann cell and axonal functions continue to be elucidated. Derived from the embryonic neural crest, Schwann cells differentiate into myelinating cells or bundle multiple unmyelinated axons into Remak fibers. Axons dictate which differentiation path Schwann cells follow, and recent studies have established that axonal neuregulin1 signaling via ErbB2/B3 receptors on Schwann cells is essential for Schwann cell myelination. Extracellular matrix production and interactions mediated by specific integrin and dystroglycan complexes are also critical requisites for Schwann cell-axon interactions. Myelination entails expansion and specialization of the Schwann cell plasma membrane over millimeter distances. Many of the myelin-specific proteins have been identified, and transgenic manipulation of myelin genes have provided novel insights into myelin protein function, including maintenance of axonal integrity and survival. Cellular events that facilitate myelination, including microtubule-based protein and mRNA targeting, and actin based locomotion, have also begun to be understood. Arguably, the most remarkable facet of Schwann cell biology, however, is their vigorous response to axonal damage. Degradation of myelin, dedifferentiation, division, production of axonotrophic factors, and remyelination all underpin the substantial regenerative capacity of the Schwann cells and peripheral nerves. Many of these properties are not shared by CNS fibers, which are myelinated by oligodendrocytes. Dissecting the molecular mechanisms responsible for the complex biology of Schwann cells continues to have practical benefits in identifying novel therapeutic targets not only for Schwann cell-specific diseases but other disorders in which axons degenerate. Copyright © 2013 Elsevier B.V. All rights
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Normalization of cell responses in cat striate cortex
Heeger, D. J.
1992-01-01
Simple cells in the striate cortex have been depicted as half-wave-rectified linear operators. Complex cells have been depicted as energy mechanisms, constructed from the squared sum of the outputs of quadrature pairs of linear operators. However, the linear/energy model falls short of a complete explanation of striate cell responses. In this paper, a modified version of the linear/energy model is presented in which striate cells mutually inhibit one another, effectively normalizing their responses with respect to stimulus contrast. This paper reviews experimental measurements of striate cell responses, and shows that the new model explains a significantly larger body of physiological data.
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Cross, Alan; Collard, Mark; Nelson, Andrew
2008-06-18
The conventional method of estimating heat balance during locomotion in humans and other hominins treats the body as an undifferentiated mass. This is problematic because the segments of the body differ with respect to several variables that can affect thermoregulation. Here, we report a study that investigated the impact on heat balance during locomotion of inter-segment differences in three of these variables: surface area, skin temperature and rate of movement. The approach adopted in the study was to generate heat balance estimates with the conventional method and then compare them with heat balance estimates generated with a method that takes into account inter-segment differences in surface area, skin temperature and rate of movement. We reasoned that, if the hypothesis that inter-segment differences in surface area, skin temperature and rate of movement affect heat balance during locomotion is correct, the estimates yielded by the two methods should be statistically significantly different. Anthropometric data were collected on seven adult male volunteers. The volunteers then walked on a treadmill at 1.2 m/s while 3D motion capture cameras recorded their movements. Next, the conventional and segmented methods were used to estimate the volunteers' heat balance while walking in four ambient temperatures. Lastly, the estimates produced with the two methods were compared with the paired t-test. The estimates of heat balance during locomotion yielded by the two methods are significantly different. Those yielded by the segmented method are significantly lower than those produced by the conventional method. Accordingly, the study supports the hypothesis that inter-segment differences in surface area, skin temperature and rate of movement impact heat balance during locomotion. This has important implications not only for current understanding of heat balance during locomotion in hominins but also for how future research on this topic should be approached.
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Directory of Open Access Journals (Sweden)
Alan Cross
Full Text Available The conventional method of estimating heat balance during locomotion in humans and other hominins treats the body as an undifferentiated mass. This is problematic because the segments of the body differ with respect to several variables that can affect thermoregulation. Here, we report a study that investigated the impact on heat balance during locomotion of inter-segment differences in three of these variables: surface area, skin temperature and rate of movement. The approach adopted in the study was to generate heat balance estimates with the conventional method and then compare them with heat balance estimates generated with a method that takes into account inter-segment differences in surface area, skin temperature and rate of movement. We reasoned that, if the hypothesis that inter-segment differences in surface area, skin temperature and rate of movement affect heat balance during locomotion is correct, the estimates yielded by the two methods should be statistically significantly different. Anthropometric data were collected on seven adult male volunteers. The volunteers then walked on a treadmill at 1.2 m/s while 3D motion capture cameras recorded their movements. Next, the conventional and segmented methods were used to estimate the volunteers' heat balance while walking in four ambient temperatures. Lastly, the estimates produced with the two methods were compared with the paired t-test. The estimates of heat balance during locomotion yielded by the two methods are significantly different. Those yielded by the segmented method are significantly lower than those produced by the conventional method. Accordingly, the study supports the hypothesis that inter-segment differences in surface area, skin temperature and rate of movement impact heat balance during locomotion. This has important implications not only for current understanding of heat balance during locomotion in hominins but also for how future research on this topic should be
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Behavioural responses of two-spotted spider mites induced by predator-borne and prey-borne cues.
Gyuris, Enikő; Szép, Erna; Kontschán, Jenő; Hettyey, Attila; Tóth, Zoltán
2017-11-01
Applying predatory mites as biological control agents is a well established method against spider mites which are major pests worldwide. Although antipredator responses can influence the outcome of predator-prey interactions, we have limited information about what cues spider mites use to adjust their behavioural antipredator responses. We experimentally exposed two-spotted spider mites (Tetranychus urticae) to different predator-borne cues (using a specialist predator, Phytoseiulus persimilis, or a generalist predator, Amblyseius swirskii), conspecific prey-borne cues, or both, and measured locomotion and egg-laying activity. The reactions to predator species compared to each other manifested in reversed tendencies: spider mites increased their locomotion activity in the presence of P. persimilis, whereas they decreased it when exposed to A. swirskii. The strongest response was triggered by the presence of a killed conspecific: focal spider mites decreased their locomotion activity compared to the control group. Oviposition activity was not affected by either treatment. Our results point out that spider mites may change their behaviour in response to predators, and also to the presence of killed conspecifics, but these effects were not enhanced when both types of cues were present. The effect of social contacts among prey conspecifics on predator-induced behavioural defences is discussed. Copyright © 2017 Elsevier B.V. All rights reserved.
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International Nuclear Information System (INIS)
Ishii, Keiichiro; Watanabe, Masami.
1994-01-01
To clarify the radio-adaptive response of normal cells to low-dose radiation, we irradiated human embryonic cells and HeLa cells with low-dose X-ray and examined the changes in sensitivity to subsequent high-dose X-irradiation. The results obtained were as follows; (1) When HE cells were irradiated by a high-dose of 200 cGy, the growth ratio of the living cells five days after the irradiation decreased to 37% of that of the cells which received no X-irradiation. When the cells received a preliminary irradiation of 10 to 20 cGy four hours before the irradiation of 200 cGy, the relative growth ratios increased significantly to 45-53%. (2) This preliminary irradiation effect was not observed in HeLa cells, being cancer cells. (3) When the HE cells suspended in a Ca 2+ iron-free medium or TPA added medium while receiving the preliminary irradiation of 13 cGy, the effect of the preliminary irradiation in increasing the relative growth ratio of living cells was not observed. (4) This indicates that normal cells shows an adaptive response to low-dose radiation and become more radioresistant. This phenomenon is considered to involve cell-to-cell communication maintained in normal cells and intracellular signal transduction in which Ca 2+ ion plays a role. (author)
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Organization of common synaptic drive to motoneurones during fictive locomotion in the spinal cat.
Nielsen, J B; Conway, B A; Halliday, D M; Perreault, M-C; Hultborn, H
2005-11-15
The basic locomotor rhythm in the cat is generated by a neuronal network in the spinal cord. The exact organization of this network and its drive to the spinal motoneurones is unknown. The purpose of the present study was to use time (cumulant density) and frequency domain (coherence) analysis to examine the organization of the last order drive to motoneurones during fictive locomotion (evoked by application of nialamide and dihydroxyphenylalanine (DOPA)) in the spinal cat. In all cats, narrow central synchronization peaks (half-width synchronization was observed between the individual intracellular recordings and the ENGs recorded from nerves of the same pool and of close synergists. Recordings from 34 pairs of motoneurones (10 pairs belonged to the same motor pool, 11 pairs to close synergists and 13 pairs to antagonistic pools) failed to reveal any short-lasting synchronization. These data demonstrate that short-term synchronization during fictive locomotion is relatively weak and is restricted to close synergists. In addition, coherence analysis failed to identify any specific rhythmic component in the locomotor drive that could be associated with this synchronization. These results resemble findings obtained during human treadmill walking and imply that the spinal interneurones participating in the generation of the locomotor rhythm are themselves weakly synchronized. The restricted synchronization within the locomotor drive to motoneuronal pools may be a feature of the locomotor generating networks that is related to the ability of these networks to produce highly adaptive patterns of muscle activity during locomotion.
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Directory of Open Access Journals (Sweden)
Seidulla ABDULLAYEV
2017-06-01
Full Text Available The article presents the solution for the problem of optimal distribution of electric locomotives in repair enterprises for carrying out repairs in the frame of technical service - 8 (ТS-8 and increased technical service - 8 (ITS-8. The aim of the study is to improve the efficacy of a rolling stock with a simultaneous decrease in the total expenses connected with the repair of locomotives and their transportation in repair enterprises. This is possible due to a reduction in the requirement for repairs by optimization of a resource before change of wheel bandages in electric locomotives VL80С that promotes an increase in their between-repairs run.
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Airborne concentrations of benzene due to diesel locomotive exhaust in a roundhouse.
Madl, Amy K; Paustenbach, Dennis J
2002-12-13
Concentrations of airborne benzene due to diesel exhaust from a locomotive were measured during a worst-case exposure scenario in a roundhouse. To understand the upper bound human health risk due to benzene, an electromotive diesel and a General Electric four-cycle turbo locomotive were allowed to run for four 30-min intervals during an 8-h workshift in a roundhouse. Full-shift and 1-h airborne concentrations of benzene were measured in the breathing zone of surrogate locomotive repairmen over the 8-h workshift on 2 consecutive days. In addition, carbon monoxide was measured continuously; elemental carbon (surrogate for diesel exhaust) was sampled with full-shift area samples; and nitrogen dioxide/nitric oxide was sampled using full-shift and 15-min (nitrogen dioxide only) area samples. Peak concentrations of carbon monoxide ranged from 22.5 to 93 ppm. The average concentration of elemental carbon for each day of the roundhouse study was 0.0543 and 0.0552 microg/m(3 )for an 8-h workshift. These were considered "worst-case" conditions since the work environment was intolerably irritating to the eyes, nose, and throat. Short-term nitrogen dioxide concentrations ranged from 0.81 to 2.63 ppm during the diesel emission events with the doors closed. One-hour airborne benzene concentrations ranged from 0.001 to 0.015 ppm with 45% of the measurements below the detection limit of 0.002-0.004 ppm. Results indicated that the 8-h time-weighted average for benzene in the roundhouse was approximately 100-fold less than the current threshold limit value (TLV) of 0.5 ppm. These data are consistent with other studies, which have indicated that benzene concentrations due to diesel emissions, even in a confined environment, are quite low.
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Lu, Jun; Xiao, Jun; Gao, Dong Jun; Zong, Shu Yu; Li, Zhu
2018-03-01
In the production of the Association of American Railroads (AAR) locomotive wheel-set, the press-fit curve is the most important basis for the reliability of wheel-set assembly. In the past, Most of production enterprises mainly use artificial detection methods to determine the quality of assembly. There are cases of miscarriage of justice appear. For this reason, the research on the standard is carried out. And the automatic judgment of press-fit curve is analysed and designed, so as to provide guidance for the locomotive wheel-set production based on AAR standard.
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Epidermal stem cells response to radiative genotoxic stress
International Nuclear Information System (INIS)
Marie, Melanie
2013-01-01
Human skin is the first organ exposed to various environmental stresses, which requires the development by skin stem cells of specific mechanisms to protect themselves and to ensure tissue homeostasis. As stem cells are responsible for the maintenance of epidermis during individual lifetime, the preservation of genomic integrity in these cells is essential. My PhD aimed at exploring the mechanisms set up by epidermal stem cells in order to protect themselves from two genotoxic stresses, ionizing radiation (Gamma Rays) and ultraviolet radiation (UVB). To begin my PhD, I have taken part of the demonstration of protective mechanisms used by keratinocyte stem cells after ionizing radiation. It has been shown that these cells are able to rapidly repair most types of radiation-induced DNA damage. Furthermore, we demonstrated that this repair is activated by the fibroblast growth factor 2 (FGF2). In order to know if this protective mechanism is also operating in cutaneous carcinoma stem cells, we investigated the response to gamma Rays of carcinoma stem cells isolated from a human carcinoma cell line. As in normal keratinocyte stem cells, we demonstrated that cancer stem cells could rapidly repair radio-induced DNA damage. Furthermore, fibroblast growth factor 2 also mediates this repair, notably thanks to its nuclear isoforms. The second project of my PhD was to study human epidermal stem cells and progenitors responses to UVB radiation. Once cytometry and irradiation conditions were set up, the toxicity of UVB radiation has been evaluate in the primary cell model. We then characterized UVB photons effects on cell viability, proliferation and repair of DNA damage. This study allowed us to bring out that responses of stem cells and their progeny to UVB are different, notably at the level of part of their repair activity of DNA damage. Moreover, progenitors and stem cells transcriptomic responses after UVB irradiation have been study in order to analyze the global
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Bronson, Stefanie L.; Ahlbrand, Rebecca; Horn, Paul S.; Kern, Joseph R.; Richtand, Neil M.
2011-01-01
Maternal infection during pregnancy elevates risk for schizophrenia and related disorders in offspring. Converging evidence suggests the maternal inflammatory response mediates the interaction between maternal infection, altered brain development, and behavioral outcome. The extent to which individual differences in the maternal response to immune challenge influence the development of these abnormalities is unknown. The present study investigated the impact of individual differences in maternal response to the viral mimic polyinosinic:polycytidylic acid (poly I:C) on offspring behavior. We observed significant variability in body weight alterations of pregnant rats induced by administration of poly I:C on gestational day 14. Furthermore, the presence or absence of maternal weight loss predicted MK-801 and amphetamine stimulated locomotor abnormalities in offspring. MK-801 stimulated locomotion was altered in offspring of all poly I:C treated dams; however, the presence or absence of maternal weight loss resulted in decreased and modestly increased locomotion, respectively. Adult offspring of poly I:C treated dams that lost weight exhibited significantly decreased amphetamine stimulated locomotion, while offspring of poly I:C treated dams without weight loss performed similarly to vehicle controls. Social isolation and increased maternal age predicted weight loss in response to poly I:C but not vehicle injection. In combination, these data identify environmental factors associated with the maternal response to immune challenge and functional outcome of offspring exposed to maternal immune activation. PMID:21255612
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Semiallogenic fusions of MSI+ tumor cells and activated B cells induce MSI-specific T cell responses
International Nuclear Information System (INIS)
Garbe, Yvette; Klier, Ulrike; Linnebacher, Michael
2011-01-01
Various strategies have been developed to transfer tumor-specific antigens into antigen presenting cells in order to induce cytotoxic T cell responses against tumor cells. One approach uses cellular vaccines based on fusions of autologous antigen presenting cells and allogeneic tumor cells. The fusion cells combine antigenicity of the tumor cell with optimal immunostimulatory capacity of the antigen presenting cells. Microsatellite instability caused by mutational inactivation of DNA mismatch repair genes results in translational frameshifts when affecting coding regions. It has been shown by us and others that these mutant proteins lead to the presentation of immunogenic frameshift peptides that are - in principle - recognized by a multiplicity of effector T cells. We chose microsatellite instability-induced frameshift antigens as ideal to test for induction of tumor specific T cell responses by semiallogenic fusions of microsatellite instable carcinoma cells with CD40-activated B cells. Two fusion clones of HCT116 with activated B cells were selected for stimulation of T cells autologous to the B cell fusion partner. Outgrowing T cells were phenotyped and tested in functional assays. The fusion clones expressed frameshift antigens as well as high amounts of MHC and costimulatory molecules. Autologous T cells stimulated with these fusions were predominantly CD4 + , activated, and reacted specifically against the fusion clones and also against the tumor cell fusion partner. Interestingly, a response toward 6 frameshift-derived peptides (of 14 tested) could be observed. Cellular fusions of MSI + carcinoma cells and activated B cells combine the antigen-presenting capacity of the B cell with the antigenic repertoire of the carcinoma cell. They present frameshift-derived peptides and can induce specific and fully functional T cells recognizing not only fusion cells but also the carcinoma cells. These hybrid cells may have great potential for cellular immunotherapy and
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Cell behaviour on chemically microstructured surfaces
International Nuclear Information System (INIS)
Magnani, Agnese; Priamo, Alfredo; Pasqui, Daniela; Barbucci, Rolando
2003-01-01
Micropatterned surfaces with different chemical topographies were synthesised in order to investigate the influence of surface chemistry and topography on cell behaviour. The microstructured materials were synthesised by photoimmobilising natural Hyaluronan (Hyal) and its sulphated derivative (HyalS), both adequately functionalised with a photorective moiety, on glass substrates. Four different grating patterns (10, 25, 50 and 100 μm) were used to pattern the hyaluronan. The micropatterned samples were analysed by Secondary Ions Mass Spectrometry, Scanning Electron Microscopy (SEM) and Atomic Force Microscopy to investigate the chemistry and the topography of the surfaces. The spectroscopic and microscopic analysis of the microstructured surfaces revealed that the photoimmobilisation process was successful, demonstrating that the photomask patterns were well reproduced on the sample surface. The influence of chemical topographies on the cell behaviour was then analysed. Human and 3T3 fibroblasts, bovine aortic and human (HGTFN line) endothelial cells were used and their behaviour on the micropatterned surfaces was analysed in terms of adhesion, proliferation, locomotion and orientation. Both chemical and topographical controls were found to be important for cell guidance. By decreasing the stripe dimensions, a more fusiform shape of cell was observed. At the same time, the cell locomotion and orientation parallel to the structure increased. However, differences in cell behaviour were detected according to both cell type and micropattern dimensions
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Phenomenon of adaptive response of cells in radiobiology
International Nuclear Information System (INIS)
Fillipovich, I.V.
1991-01-01
Consideration is given to various adaptive reactions to low-level radiation, their association with an absorbed dose, dose rate, radiation quality and time-interval between exposures, as well as with a cell cycle phase. Possible mechanisms of the adaptive response and the character and role of DNA damages, that can induce gene expression of the adaptive response, are discussed. The data on the influence of a preliminary long-term exposure to low-level radiation on the radiosensitivity of biological objects are analyzed with due regard for the adaptive cell response. It is concluded that the adaptive response of cells to ionizing radiation is a particular case of the phenomenon of cell adaptation of the effect of genotoxic factors of the environment
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Azizi, Mohammad Ali; Brouwer, Jacob
2017-10-01
A better understanding of turbulent unsteady flows in gas turbine systems is necessary to design and control compressors for hybrid fuel cell-gas turbine systems. Compressor stall/surge analysis for a 4 MW hybrid solid oxide fuel cell-gas turbine system for locomotive applications is performed based upon a 1.7 MW multi-stage air compressor. Control strategies are applied to prevent operation of the hybrid SOFC-GT beyond the stall/surge lines of the compressor. Computational fluid dynamics tools are used to simulate the flow distribution and instabilities near the stall/surge line. The results show that a 1.7 MW system compressor like that of a Kawasaki gas turbine is an appropriate choice among the industrial compressors to be used in a 4 MW locomotive SOFC-GT with topping cycle design. The multi-stage radial design of the compressor enhances the ability of the compressor to maintain air flow rate during transient step-load changes. These transient step-load changes are exhibited in many potential applications for SOFC/GT systems. The compressor provides sustained air flow rate during the mild stall/surge event that occurs due to the transient step-load change that is applied, indicating that this type of compressor is well-suited for this hybrid application.
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DEFF Research Database (Denmark)
Hviid, L; Jakobsen, P H; Abu-Zeid, Y A
1992-01-01
Malaria is caused by infection with protozoan parasites of the genus Plasmodium. It remains one of the most severe health problems in tropical regions of the world, and the rapid spread of resistance to drugs and insecticides has stimulated intensive research aimed at the development of a malaria...... vaccine. Despite this, no efficient operative vaccine is currently available. A large amount of information on T-cell responses to malaria antigens has been accumulated, concerning antigens derived from all stages of the parasite life cycle. The present review summarizes some of that information......, and discusses factors affecting the responses of T cells to malaria antigens....
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Human-robot interaction strategies for walker-assisted locomotion
Cifuentes, Carlos A
2016-01-01
This book presents the development of a new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation. The aim is to achieve a closer interaction between the robotic device and the individual, empowering the rehabilitation potential of such devices in clinical applications. A new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation is presented. Trends and opportunities for future advances in the field of assistive locomotion via the development of hybrid solutions based on the combination of smart walkers and biomechatronic exoskeletons are also discussed. .
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Optimization of the Hood of Diesel Electric Locomotive
Directory of Open Access Journals (Sweden)
Petr TOMEK
2013-06-01
Full Text Available The new construction of hood of diesel electric locomotive is analyzed in this paper. The whole construction is loaded by inertia effects caused by prescribed acceleration. The parts of the hood are subject to the standards for railway applications CSN EN 12663-1 [1]. Numerical analyses are performed by FEM computer program COSMOSWorks [2]. The original construction of hood is analyzed in first part of this paper. Structural changes are proposed in the next part of this article. Carrying capacity of the new construction of hood is verified by a numerical analysis. The results of the new construction are compared with the original construction of hood.
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Saltiel, Philippe; d'Avella, Andrea; Wyler-Duda, Kuno; Bizzi, Emilio
2016-11-01
Locomotion is produced by a central pattern generator. Its spinal cord organization is generally considered to be distributed, with more rhythmogenic rostral lumbar segments. While this produces a rostrocaudally traveling wave in undulating species, this is not thought to occur in limbed vertebrates, with the exception of the interneuronal traveling wave demonstrated in fictive cat scratching (Cuellar et al. J Neurosci 29:798-810, 2009). Here, we reexamine this hypothesis in the frog, using the seven muscle synergies A to G previously identified with intraspinal NMDA (Saltiel et al. J Neurophysiol 85:605-619, 2001). We find that locomotion consists of a sequence of synergy activations (A-B-G-A-F-E-G). The same sequence is observed when focal NMDA iontophoresis in the spinal cord elicits a caudal extension-lateral force-flexion cycle (flexion onset without the C synergy). Examining the early NMDA-evoked motor output at 110 sites reveals a rostrocaudal topographic organization of synergy encoding by the lumbar cord. Each synergy is preferentially activated from distinct regions, which may be multiple, and partially overlap between different synergies. Comparing the sequence of synergy activation in locomotion with their spinal cord topography suggests that the locomotor output is achieved by a rostrocaudally traveling wave of activation in the swing-stance cycle. A two-layer circuitry model, based on this topography and a traveling wave reproduces this output and explores its possible modifications under different afferent inputs. Our results and simulations suggest that a rostrocaudally traveling wave of excitation takes advantage of the topography of interneuronal regions encoding synergies, to activate them in the proper sequence for locomotion.
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Espinal, Andres; Rostro-Gonzalez, Horacio; Carpio, Martin; Guerra-Hernandez, Erick I; Ornelas-Rodriguez, Manuel; Sotelo-Figueroa, Marco
2016-01-01
This paper presents a method to design Spiking Central Pattern Generators (SCPGs) to achieve locomotion at different frequencies on legged robots. It is validated through embedding its designs into a Field-Programmable Gate Array (FPGA) and implemented on a real hexapod robot. The SCPGs are automatically designed by means of a Christiansen Grammar Evolution (CGE)-based methodology. The CGE performs a solution for the configuration (synaptic weights and connections) for each neuron in the SCPG. This is carried out through the indirect representation of candidate solutions that evolve to replicate a specific spike train according to a locomotion pattern (gait) by measuring the similarity between the spike trains and the SPIKE distance to lead the search to a correct configuration. By using this evolutionary approach, several SCPG design specifications can be explicitly added into the SPIKE distance-based fitness function, such as looking for Spiking Neural Networks (SNNs) with minimal connectivity or a Central Pattern Generator (CPG) able to generate different locomotion gaits only by changing the initial input stimuli. The SCPG designs have been successfully implemented on a Spartan 6 FPGA board and a real time validation on a 12 Degrees Of Freedom (DOFs) hexapod robot is presented.
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Kauffman, I B; Ridenour, M
1977-12-01
Acquisition of bipedal locomotor skill in human infants was studied electromyographically with regard to the deprivation or enrichment behavior resulting from the frequent and regular use of an infant walker. Subjects were six sets of male, fraternal twins. One randomly selected sibling from each set underwent a training program, commencing at the age of 300 days, spending a total of 2 hr. per day in a walker. Siblings not included in this group were subjected to no special training. EMG recordings were taken of all subjects at specified intervals in order to establish a model of the typical motor pattern at various stages of skill development. These data were then contrasted with EMG data similarly obtained from the walker-trained subjects. Use of an infant walker modified the mechanics of the infant's locomotion in a number of important ways. It was shown that use of the walker enables an infant to commit substantial mechanical errors yet succeed in bipedal locomotion. Inasmuch as the mechanics of walker-assisted and non-assisted bipedal locomotion are dissimilar in so many important ways, positive transfer from walker-training appears questionable.
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2001-01-01
Over forty years ago, the PS train entered service to steer the magnets of the accelerator into place... ... a service that was resumed last Tuesday. Left to right: Raymond Brown (CERN), Claude Tholomier (D.B.S.), Marcel Genolin (CERN), Gérard Saumade (D.B.S.), Ingo Ruehl (CERN), Olivier Carlier (D.B.S.), Patrick Poisot (D.B.S.), Christian Recour (D.B.S.). It is more than ten years since people at CERN heard the rumbling of the old PS train's steel wheels. Last Tuesday, the locomotive came back into service to be tested. It is nothing like the monstrous steel engines still running on conventional railways -just a small electric battery-driven vehicle employed on installing the magnets for the PS accelerator more than 40 years ago. To do so, it used the tracks that run round the accelerator. In fact, it is the grandfather of the LEP monorail. After PS was commissioned in 1959, the little train was used more and more rarely. This is because magnets never break down, or hardly ever! In fact, the loc...
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System-wide Analysis of the T Cell Response
Directory of Open Access Journals (Sweden)
Ruxandra Covacu
2016-03-01
Full Text Available The T cell receptor (TCR controls the cellular adaptive immune response to antigens, but our understanding of TCR repertoire diversity and response to challenge is still incomplete. For example, TCR clones shared by different individuals with minimal alteration to germline gene sequences (public clones are detectable in all vertebrates, but their significance is unknown. Although small in size, the zebrafish TCR repertoire is controlled by processes similar to those operating in mammals. Thus, we studied the zebrafish TCR repertoire and its response to stimulation with self and foreign antigens. We found that cross-reactive public TCRs dominate the T cell response, endowing a limited TCR repertoire with the ability to cope with diverse antigenic challenges. These features of vertebrate public TCRs might provide a mechanism for the rapid generation of protective T cell immunity, allowing a short temporal window for the development of more specific private T cell responses.
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Keropyan, A. M.; Kantovich, L. I.; Voronin, B. V.; Kuziev, D. A.; Zotov, V. V.
2017-10-01
This article deals with the problems of unloading the axes of wheel sets of locomotives of industrial railway transport by the example of exploitation in conditions of open chasing works. Studies have established that the displacement of the center of mass of an open-pit locomotive depends primarily on the height of the center of gravity, the height of the location of the hook of the locomotive coupling over the rails and the slope of the track. Therefore, to increase the coefficient of utilization of the adhesive weight and to ensure rational operating conditions, it is necessary to provide an adjustable displacement of the locomotive’s center of mass taking into account the actual operating conditions, including when driving on rectilinear and curvilinear sections of the track. Analysis of calculation results showed that for the traction unit OPE1 when driving in traction mode in close to the extreme operating conditions, it is necessary to provide a constructive solution for displacement of the center of mass of the locomotive up to 0.5 m in the course of movement of the locomotive’s center of mass.
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Rapid and dynamic arginylation of the leading edge β-actin is required for cell migration.
Pavlyk, Iuliia; Leu, Nicolae A; Vedula, Pavan; Kurosaka, Satoshi; Kashina, Anna
2018-04-01
β-actin plays key roles in cell migration. Our previous work demonstrated that β-actin in migratory non-muscle cells is N-terminally arginylated and that this arginylation is required for normal lamellipodia extension. Here, we examined the function of β-actin arginylation in cell migration. We found that arginylated β-actin is concentrated at the leading edge of lamellipodia and that this enrichment is abolished after serum starvation as well as in contact-inhibited cells in confluent cultures, suggesting that arginylated β-actin at the cell leading edge is coupled to active migration. Arginylated actin levels exhibit dynamic changes in response to cell stimuli, lowered after serum starvation and dramatically elevating within minutes after cell stimulation by readdition of serum or lysophosphatidic acid. These dynamic changes require active translation and are not seen in confluent contact-inhibited cell cultures. Microinjection of arginylated actin antibodies into cells severely and specifically inhibits their migration rates. Together, these data strongly suggest that arginylation of β-actin is a tightly regulated dynamic process that occurs at the leading edge of locomoting cells in response to stimuli and is integral to the signaling network that regulates cell migration. © 2018 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.
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Chow, Justin Jeff
Freight movement of goods is the artery for America's economic health. Long-haul rail is the premier mode of transport on a ton-mile basis. Concerns regarding greenhouse gas and criteria pollutant emissions, however, have motivated the creation of annually increasing locomotive emissions standards. Health issues from diesel particulate matter, especially near rail yards, have also been on the rise. These factors and the potential to raise conventional diesel-electric locomotive performance warrants the investigation of using future fuels in a more efficient system for locomotive application. This research evaluates the dynamic performance of a Solid Oxide Fuel Cell-Gas Turbine (SOFC-GT) Hybrid system operating on hydrogen fuel to power a locomotive over a rail path starting from the Port of Los Angeles and ending in the City of Barstow. Physical constraints, representative locomotive operation logic, and basic design are used from a previous feasibility study and simulations are performed in the MATLAB Simulink environment. In-house controls are adapted to and expanded upon. Results indicate high fuel-to-electricity efficiencies of at least 54% compared to a conventional diesel-electric locomotive efficiency of 35%. Incorporation of properly calibrated feedback and feed-forward controls enables substantial load following of difficult transients that result from train kinematics while maintaining turbomachinery operating requirements and suppressing thermal stresses in the fuel cell stack. The power split between the SOFC and gas turbine is deduced to be a deterministic factor in the balance between capital and operational costs. Using hydrogen results in no emissions if renewable and offers a potential of 24.2% fuel energy savings for the rail industry.
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Regulation of T cell responses in atherosclerosis
Puijvelde, Gijsbrecht Henricus Maria van
2007-01-01
One of the most important characteristics of atherosclerosis is the chronic inflammatory response in which T cells and NKT cells are very important. In this thesis several methods to modulate the activity of these T and NKT cells in atherosclerosis are described. The induction of regulatory T cells
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Adaptive Gaze Strategies for Locomotion with Constricted Visual Field
Directory of Open Access Journals (Sweden)
Colas N. Authié
2017-07-01
Full Text Available In retinitis pigmentosa (RP, loss of peripheral visual field accounts for most difficulties encountered in visuo-motor coordination during locomotion. The purpose of this study was to accurately assess the impact of peripheral visual field loss on gaze strategies during locomotion, and identify compensatory mechanisms. Nine RP subjects presenting a central visual field limited to 10–25° in diameter, and nine healthy subjects were asked to walk in one of three directions—straight ahead to a visual target, leftward and rightward through a door frame, with or without obstacle on the way. Whole body kinematics were recorded by motion capture, and gaze direction in space was reconstructed using an eye-tracker. Changes in gaze strategies were identified in RP subjects, including extensive exploration prior to walking, frequent fixations of the ground (even knowing no obstacle was present, of door edges, essentially of the proximal one, of obstacle edge/corner, and alternating door edges fixations when approaching the door. This was associated with more frequent, sometimes larger rapid-eye-movements, larger movements, and forward tilting of the head. Despite the visual handicap, the trajectory geometry was identical between groups, with a small decrease in walking speed in RPs. These findings identify the adaptive changes in sensory-motor coordination, in order to ensure visual awareness of the surrounding, detect changes in spatial configuration, collect information for self-motion, update the postural reference frame, and update egocentric distances to environmental objects. They are of crucial importance for the design of optimized rehabilitation procedures.
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Adaptive Gaze Strategies for Locomotion with Constricted Visual Field
Authié, Colas N.; Berthoz, Alain; Sahel, José-Alain; Safran, Avinoam B.
2017-01-01
In retinitis pigmentosa (RP), loss of peripheral visual field accounts for most difficulties encountered in visuo-motor coordination during locomotion. The purpose of this study was to accurately assess the impact of peripheral visual field loss on gaze strategies during locomotion, and identify compensatory mechanisms. Nine RP subjects presenting a central visual field limited to 10–25° in diameter, and nine healthy subjects were asked to walk in one of three directions—straight ahead to a visual target, leftward and rightward through a door frame, with or without obstacle on the way. Whole body kinematics were recorded by motion capture, and gaze direction in space was reconstructed using an eye-tracker. Changes in gaze strategies were identified in RP subjects, including extensive exploration prior to walking, frequent fixations of the ground (even knowing no obstacle was present), of door edges, essentially of the proximal one, of obstacle edge/corner, and alternating door edges fixations when approaching the door. This was associated with more frequent, sometimes larger rapid-eye-movements, larger movements, and forward tilting of the head. Despite the visual handicap, the trajectory geometry was identical between groups, with a small decrease in walking speed in RPs. These findings identify the adaptive changes in sensory-motor coordination, in order to ensure visual awareness of the surrounding, detect changes in spatial configuration, collect information for self-motion, update the postural reference frame, and update egocentric distances to environmental objects. They are of crucial importance for the design of optimized rehabilitation procedures. PMID:28798674
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Henrion, S.; Spoor, C.W.; Pieters, R.P.M.; Müller, U.K.; Leeuwen, van J.L.
2015-01-01
Images of underwater objects are distorted by refraction at the water–glass–air interfaces and these distortions can lead to substantial errors when reconstructing the objects' position and shape. So far, aquatic locomotion studies have minimized refraction in their experimental setups and used the
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DEFF Research Database (Denmark)
Arnskov, Thomas; Elmholdt, Anders; Jensen, Kristian Hagemann
2018-01-01
This poster details the design and evaluation of Locomotion3 - a framework that allows users to freely alternate between real walking, walking-in-place (WIP), and a skateboard metaphor depending on whether navigation requires efficiency, precision, or both. The user study compared the framework t...
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T-cell activation and early gene response in dogs.
Directory of Open Access Journals (Sweden)
Sally-Anne Mortlock
Full Text Available T-cells play a crucial role in canine immunoregulation and defence against invading pathogens. Proliferation is fundamental to T-cell differentiation, homeostasis and immune response. Initiation of proliferation following receptor mediated stimuli requires a temporally programmed gene response that can be identified as immediate-early, mid- and late phases. The immediate-early response genes in T-cell activation engage the cell cycle machinery and promote subsequent gene activation events. Genes involved in this immediate-early response in dogs are yet to be identified. The present study was undertaken to characterise the early T-cell gene response in dogs to improve understanding of the genetic mechanisms regulating immune function. Gene expression profiles were characterised using canine gene expression microarrays and quantitative reverse transcription PCR (qRT-PCR, and paired samples from eleven dogs. Significant functional annotation clusters were identified following stimulation with phytohemagluttinin (PHA (5μg/ml, including the Toll-like receptor signaling pathway and phosphorylation pathways. Using strict statistical criteria, 13 individual genes were found to be differentially expressed, nine of which have ontologies that relate to proliferation and cell cycle control. These included, prostaglandin-endoperoxide synthase 2 (PTGS2/COX2, early growth response 1 (EGR1, growth arrest and DNA damage-inducible gene (GADD45B, phorbol-12-myristate-13-acetate-induced protein 1 (PMAIP1, V-FOS FBJ murine osteosarcoma viral oncogene homolog (FOS, early growth response 2 (EGR2, hemogen (HEMGN, polo-like kinase 2 (PLK2 and polo-like kinase 3 (PLK3. Differential gene expression was re-examined using qRT-PCR, which confirmed that EGR1, EGR2, PMAIP1, PTGS2, FOS and GADD45B were significantly upregulated in stimulated cells and ALAS2 downregulated. PTGS2 and EGR1 showed the highest levels of response in these dogs. Both of these genes are involved in
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Hikihara, Yuki; Tanaka, Chiaki; Oshima, Yoshitake; Ohkawara, Kazunori; Ishikawa-Takata, Kazuko; Tanaka, Shigeho
2014-01-01
The aims of our study were to examine whether a gravity-removal physical activity classification algorithm (GRPACA) is applicable for discrimination between nonlocomotive and locomotive activities for various physical activities (PAs) of children and to prove that this approach improves the estimation accuracy of a prediction model for children using an accelerometer. Japanese children (42 boys and 26 girls) attending primary school were invited to participate in this study. We used a triaxial accelerometer with a sampling interval of 32 Hz and within a measurement range of ±6 G. Participants were asked to perform 6 nonlocomotive and 5 locomotive activities. We measured raw synthetic acceleration with the triaxial accelerometer and monitored oxygen consumption and carbon dioxide production during each activity with the Douglas bag method. In addition, the resting metabolic rate (RMR) was measured with the subject sitting on a chair to calculate metabolic equivalents (METs). When the ratio of unfiltered synthetic acceleration (USA) and filtered synthetic acceleration (FSA) was 1.12, the rate of correct discrimination between nonlocomotive and locomotive activities was excellent, at 99.1% on average. As a result, a strong linear relationship was found for both nonlocomotive (METs = 0.013×synthetic acceleration +1.220, R2 = 0.772) and locomotive (METs = 0.005×synthetic acceleration +0.944, R2 = 0.880) activities, except for climbing down and up. The mean differences between the values predicted by our model and measured METs were -0.50 to 0.23 for moderate to vigorous intensity (>3.5 METs) PAs like running, ball throwing and washing the floor, which were regarded as unpredictable PAs. In addition, the difference was within 0.25 METs for sedentary to mild moderate PAs (model that discriminates between nonlocomotive and locomotive activities for children can be useful to evaluate the sedentary to vigorous PAs intensity of both nonlocomotive and
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Improvement of fuel injection system of locomotive diesel engine.
Li, Minghai; Cui, Hongjiang; Wang, Juan; Guan, Ying
2009-01-01
The traditional locomotive diesels are usually designed for the performance of rated condition and much fuel will be consumed. A new plunger piston matching parts of fuel injection pump and injector nozzle matching parts were designed. The experimental results of fuel injection pump test and diesel engine show that the fuel consumption rate can be decreased a lot in the most of the working conditions. The forced lubrication is adopted for the new injector nozzle matching parts, which can reduce failure rate and increase service life. The design has been patented by Chinese State Patent Office.
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DEFF Research Database (Denmark)
Nilsson, Niels Christian; Serafin, Stefania; Nordahl, Rolf
2014-01-01
to virtual motion. This paper describes two within-subjects studies performed with the intention of establishing the range of perceptually natural walking speeds for WIP locomotion. In both studies, subjects performed a series of virtual walks while exposed to visual gains (optic flow multipliers) ranging...... from 1.0 to 3.0. Thus, the slowest speed was equal to an estimate of the subjects normal walking speed, while the highest speed was three times greater. The perceived naturalness of the visual speed was assessed using self-reports. The first study compared four different types of movement, namely...... proportional to the degree of underestimation of the virtual speeds for both treadmill-mediated virtual walking and WIP locomotion. Combined, the results constitute a first attempt at establishing a set of guidelines specifying what virtual walking speeds WIP gestures should produce in order to facilitate...
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Research on one Bio-inspired Jumping Locomotion Robot for Search and Rescue
Directory of Open Access Journals (Sweden)
Dunwen Wei
2014-10-01
Full Text Available Jumping locomotion is much more effective than other locomotion means in order to tackle the unstructured and complex environment in research and rescue. Here, a bio-inspired jumping robot with a closed-chain mechanism is proposed to achieve the power amplification during taking-off. Through actuating one variable transmission mechanism to change the transmission ratio, the jumping robot reveals biological characteristics in the phase of posture adjustment when adjusting the height and distance of one jump. The kinematics and dynamics of the simplified jumping mechanism model in one jumping cycle sequence are analysed. A compliant contact model considering nonlinear damping is investigated for jumping performance under different terrain characteristics. The numerical simulation algorithm with regard to solving the dynamical equation is described and simulation results are discussed. Finally, one primary prototype and experiment are described. The experimental results show the distance of jumping in the horizontal direction increases with the increasing gear ratio, while the height of jumping decreases in reverse. The jumping robot can enhance the capability to adapt to unknown cluttered environments, such as those encountered in research and rescue, using this strategy.
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Investigation of wear of insulation of traction engines of locomotives in operation
Directory of Open Access Journals (Sweden)
Nefedov Roman
2018-01-01
Full Text Available The article analyzes reliability of traction electric motors in operation. It is shown that the greatest number of failure falls on the winding of the armature. Investigation of the causes of increased wear of the armature winding insulation was carried out using the dynamic thermal model of the electric motor. The model is represented by 150 final elements and takes into account the conditions of thermal conductivity between the nodes and heat transfer to the cooling air. Verification of the model was carried out by comparison with the results of thermal tests of electric motors of the series HБ-406 and ЭД-118. The field of temperatures in the traction motor under various loads was investigated. It is shown that in stationary mode the temperature change along the armature winding can reach 60C. Modeling of thermal dynamic processes in the engine during its operation on the locomotive allowed to identify the most stressed nodes. It is shown that the resource of the electric motor is determined by the wear of the insulation of the frontal part of the armature winding on the side of the traction drive of the locomotive.
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McLachlan, Debra A.; Burgos, Teresa; Honeycutt, Holly K.; Linam, Eve H.; Moneymaker, Laura D.; Rathke, Meghan K.
2009-01-01
Emotion recognition is a critical life skill children need for mental health promotion to meet the complexities and challenges of growing up in the world today. Five nursing students and their instructor designed "Emotion Locomotion," a program for children ages 6-8 during a public health nursing practicum for an inner-city parochial school.…
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Directory of Open Access Journals (Sweden)
Marie-Laure Mille
2012-01-01
Full Text Available Disorders of posture, balance, and gait are debilitating motor manifestations of advancing Parkinson's disease requiring rehabilitation intervention. These problems often reflect difficulties with coupling or sequencing posture and locomotion during complex whole body movements linked with falls. Considerable progress has been made with demonstrating the effectiveness of exercise interventions for individuals with Parkinson's disease. However, gaps remain in the evidence base for specific interventions and the optimal content of exercise interventions. Using a conceptual theoretical framework and experimental findings, this perspective and review advances the viewpoint that rehabilitation interventions focused on separate or isolated components of posture, balance, or gait may limit the effectiveness of current clinical practices. It is argued that treatment effectiveness may be improved by directly targeting posture and locomotion coupling problems as causal factors contributing to balance and gait dysfunction. This approach may help advance current clinical practice and improve outcomes in rehabilitation for persons with Parkinson's disease.
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Dynamics of underwater legged locomotion: modeling and experiments on an octopus-inspired robot.
Calisti, M; Corucci, F; Arienti, A; Laschi, C
2015-07-30
This paper studies underwater legged locomotion (ULL) by means of a robotic octopus-inspired prototype and its associated model. Two different types of propulsive actions are embedded into the robot model: reaction forces due to leg contact with the ground and hydrodynamic forces such as the drag arising from the sculling motion of the legs. Dynamic parameters of the model are estimated by means of evolutionary techniques and subsequently the model is exploited to highlight some distinctive features of ULL. Specifically, the separation between the center of buoyancy (CoB)/center of mass and density affect the stability and speed of the robot, whereas the sculling movements contribute to propelling the robot even when its legs are detached from the ground. The relevance of these effects is demonstrated through robotic experiments and model simulations; moreover, by slightly changing the position of the CoB in the presence of the same feed-forward activation, a number of different behaviors (i.e. forward and backward locomotion at different speeds) are achieved.
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Mesenchymal stem cells induce dermal fibroblast responses to injury
International Nuclear Information System (INIS)
Smith, Andria N.; Willis, Elise; Chan, Vincent T.; Muffley, Lara A.; Isik, F. Frank; Gibran, Nicole S.; Hocking, Anne M.
2010-01-01
Although bone marrow-derived mesenchymal stem cells have been shown to promote repair when applied to cutaneous wounds, the mechanism for this response remains to be determined. The aim of this study was to determine the effects of paracrine signaling from mesenchymal stem cells on dermal fibroblast responses to injury including proliferation, migration and expression of genes important in wound repair. Dermal fibroblasts were co-cultured with bone marrow-derived mesenchymal stem cells grown in inserts, which allowed for paracrine interactions without direct cell contact. In this co-culture model, bone marrow-derived mesenchymal stem cells regulate dermal fibroblast proliferation, migration and gene expression. When co-cultured with mesenchymal stem cells, dermal fibroblasts show increased proliferation and accelerated migration in a scratch assay. A chemotaxis assay also demonstrated that dermal fibroblasts migrate towards bone marrow-derived mesenchymal stem cells. A PCR array was used to analyze the effect of mesenchymal stem cells on dermal fibroblast gene expression. In response to mesenchymal stem cells, dermal fibroblasts up-regulate integrin alpha 7 expression and down-regulate expression of ICAM1, VCAM1 and MMP11. These observations suggest that mesenchymal stem cells may provide an important early signal for dermal fibroblast responses to cutaneous injury.
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Li, Cai; Lowe, Robert; Ziemke, Tom
2014-01-01
In this article, we propose an architecture of a bio-inspired controller that addresses the problem of learning different locomotion gaits for different robot morphologies. The modeling objective is split into two: baseline motion modeling and dynamics adaptation. Baseline motion modeling aims to achieve fundamental functions of a certain type of locomotion and dynamics adaptation provides a "reshaping" function for adapting the baseline motion to desired motion. Based on this assumption, a three-layer architecture is developed using central pattern generators (CPGs, a bio-inspired locomotor center for the baseline motion) and dynamic motor primitives (DMPs, a model with universal "reshaping" functions). In this article, we use this architecture with the actor-critic algorithms for finding a good "reshaping" function. In order to demonstrate the learning power of the actor-critic based architecture, we tested it on two experiments: (1) learning to crawl on a humanoid and, (2) learning to gallop on a puppy robot. Two types of actor-critic algorithms (policy search and policy gradient) are compared in order to evaluate the advantages and disadvantages of different actor-critic based learning algorithms for different morphologies. Finally, based on the analysis of the experimental results, a generic view/architecture for locomotion learning is discussed in the conclusion.
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Directory of Open Access Journals (Sweden)
Cai eLi
2014-10-01
Full Text Available In this article, we propose an architecture of a bio-inspired controller that addresses the problem of learning different locomotion gaits for different robot morphologies. The modelling objective is split into two: baseline motion modelling and dynamics adaptation. Baseline motion modelling aims to achieve fundamental functions of a certain type of locomotion and dynamics adaptation provides a ``reshaping function for adapting the baseline motion to desired motion. Based on this assumption, a three-layer architecture is developed using central pattern generators (CPGs, a bio-inspired locomotor center for the the baseline motion and dynamic motor primitives (DMPs, a model with universal ``reshaping functions. In this article, we use this architecture with the actor-critic algorithms for finding a good ``reshaping function. In order to demonstrate the learning power of the actor-critic based architecture, we tested it on two experiments: 1 learning to crawl on a humanoid and, 2 learning to gallop on a puppy robot. Two types of actor-critic algorithms (policy search and policy gradient are compared in order to evaluate the advantages and disadvantages of different actor-critic based learning algorithms for different morphologies. Finally, based on the analysis of the experimental results, a generic view/architecture for locomotion learning is discussed in the conclusion.
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Schmidt, André
2011-06-01
Mammalian locomotion is characterized by the frequent use of in-phase gaits in which the footfalls of the left and right fore- or hindlimbs are unevenly spaced in time. Although previous studies have identified a functional differentiation between the first limb (trailing limb) and the second limb (leading limb) to touch the ground during terrestrial locomotion, the influence of a horizontal branch on limb function has never been explored. To determine the functional differences between trailing and leading forelimbs during locomotion on the ground and on a horizontal branch, X-ray motion analysis and force measurements were carried out in two European red squirrels (Sciurus vulgaris, Rodentia). The differences observed between trailing and leading forelimbs were minimal during terrestrial locomotion, where both limbs fulfill two functions and go through a shock-absorbing phase followed by a generating phase. During locomotion on a horizontal branch, European red squirrels reduce speed and all substrate reaction forces transmitted may be due to the reduction of vertical oscillation of the center of mass. Further adjustments during locomotion on a horizontal branch differ significantly between trailing and leading forelimbs and include limb flexion, lead intervals, limb protraction and vertical displacement of the scapular pivot. Consequently, trailing and leading forelimbs perform different functions. Trailing forelimbs function primarily as shock-absorbing elements, whereas leading forelimbs are characterized by a high level of stiffness. This functional differentiation indicates that European red squirrels 'test' the substrate for stability with the trailing forelimb, while the leading forelimb responds to or counteracts swinging or snapping branches. Copyright © 2011 Elsevier GmbH. All rights reserved.
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Tobacco and e-cigarette products initiate Kupffer cell inflammatory responses.
Rubenstein, David A; Hom, Sarah; Ghebrehiwet, Berhane; Yin, Wei
2015-10-01
Kupffer cells are liver resident macrophages that are responsible for screening and clearing blood of pathogens and foreign particles. It has recently been shown that Kupffer cells interact with platelets, through an adhesion based mechanism, to aid in pathogen clearance and then these platelets re-enter the general systemic circulation. Thus, a mechanism has been identified that relates liver inflammation to possible changes in the systemic circulation. However, the role that Kupffer cells play in cardiovascular disease initiation/progression has not been elucidated. Thus, our objective was to determine whether or not Kupffer cells are responsive to a classical cardiovascular risk factor and if these changes can be transmitted into the general systemic circulation. If Kupffer cells initiate inflammatory responses after exposure to classical cardiovascular risk factors, then this provides a potential alternative/synergistic pathway for cardiovascular disease initiation. We aimed to elucidate the prevalence of this potential pathway. We hypothesized that Kupffer cells would initiate a robust inflammatory response after exposure to tobacco cigarette or e-cigarette products and that the inflammatory response would have the potential to antagonize other salient cells for cardiovascular disease progression. To test this, Kupffer cells were incubated with tobacco smoke extracts, e-cigarette vapor extracts or pure nicotine. Complement deposition onto Kupffer cells, Kupffer cell complement receptor expression, oxidative stress production, cytokine release and viability and density were assessed after the exposure. We observed a robust inflammatory response, oxidative stress production and cytokine release after Kupffer cells were exposed to tobacco or e-cigarette extracts. We also observed a marginal decrease in cell viability coupled with a significant decrease in cell density. In general, this was not a function of the extract formulation (e.g. tobacco vs. e
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Jumping robots: a biomimetic solution to locomotion across rough terrain.
Armour, Rhodri; Paskins, Keith; Bowyer, Adrian; Vincent, Julian; Megill, William; Bomphrey, Richard
2007-09-01
This paper introduces jumping robots as a means to traverse rough terrain; such terrain can pose problems for traditional wheeled, tracked and legged designs. The diversity of jumping mechanisms found in nature is explored to support the theory that jumping is a desirable ability for a robot locomotion system to incorporate, and then the size-related constraints are determined from first principles. A series of existing jumping robots are presented and their performance summarized. The authors present two new biologically inspired jumping robots, Jollbot and Glumper, both of which incorporate additional locomotion techniques of rolling and gliding respectively. Jollbot consists of metal hoop springs forming a 300 mm diameter sphere, and when jumping it raises its centre of gravity by 0.22 m and clears a height of 0.18 m. Glumper is of octahedral shape, with four 'legs' that each comprise two 500 mm lengths of CFRP tube articulating around torsion spring 'knees'. It is able to raise its centre of gravity by 1.60 m and clears a height of 1.17 m. The jumping performance of the jumping robot designs presented is discussed and compared against some specialized jumping animals. Specific power output is thought to be the performance-limiting factor for a jumping robot, which requires the maximization of the amount of energy that can be stored together with a minimization of mass. It is demonstrated that this can be achieved through optimization and careful materials selection.
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CPG-based Locomotion Controller Design for a Boxfish-like Robot
Directory of Open Access Journals (Sweden)
Wei Wang
2014-06-01
Full Text Available This paper focuses on a Central Pattern Generator (CPG-based locomotion controller design for a boxfish-like robot. The bio-inspired controller is aimed at flexible switching in multiple 3D swimming patterns and exact attitude control of yaw and roll such that the robot will swim more like a real boxfish. The CPG network comprises two layers, the lower layer is the network of coupled linear oscillators and the upper is the transition layer where the lower-dimensional locomotion stimuli are transformed into the higher-dimensional control parameters serving for all the oscillators. Based on such a two-layer framework, flexible switching between multiple three-dimensional swimming patterns, such as swimming forwards/backwards, turning left/right, swimming upwards/downwards and rolling clockwise/counter-clockwise, can be simply realized by inputting different stimuli. Moreover, the stability of the CPG network is strictly proved to guarantee the intrinsic stability of the swimming patterns. As to exact attitude control, based on this open-loop CPG network and the sensory feedback from the Inertial Measurement Unit (IMU, a closed-loop CPG controller is advanced for yaw and roll control of the robotic fish for the first time. This CPG-based online attitude control for a robotic fish will greatly facilitate high-level practical underwater applications. A series of relevant experiments with the robotic fish are conducted systematically to validate the effectiveness and stability of the open-loop and closed-loop CPG controllers.
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Differences in gaze anticipation for locomotion with and without vision
Authié, Colas N.; Hilt, Pauline M.; N'Guyen, Steve; Berthoz, Alain; Bennequin, Daniel
2015-01-01
Previous experimental studies have shown a spontaneous anticipation of locomotor trajectory by the head and gaze direction during human locomotion. This anticipatory behavior could serve several functions: an optimal selection of visual information, for instance through landmarks and optic flow, as well as trajectory planning and motor control. This would imply that anticipation remains in darkness but with different characteristics. We asked 10 participants to walk along two predefined complex trajectories (limaçon and figure eight) without any cue on the trajectory to follow. Two visual conditions were used: (i) in light and (ii) in complete darkness with eyes open. The whole body kinematics were recorded by motion capture, along with the participant's right eye movements. We showed that in darkness and in light, horizontal gaze anticipates the orientation of the head which itself anticipates the trajectory direction. However, the horizontal angular anticipation decreases by a half in darkness for both gaze and head. In both visual conditions we observed an eye nystagmus with similar properties (frequency and amplitude). The main difference comes from the fact that in light, there is a shift of the orientations of the eye nystagmus and the head in the direction of the trajectory. These results suggest that a fundamental function of gaze is to represent self motion, stabilize the perception of space during locomotion, and to simulate the future trajectory, regardless of the vision condition. PMID:26106313
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Directory of Open Access Journals (Sweden)
I. V. Zhukovytskyy
2017-04-01
Full Text Available Purpose. The article provides for finding solution to the problem of developing and improving the means for measuring tachometric data of the previously created information and measuring system for testing hydraulic locomotive transmission by substantiating the optimal sensor design and signal processing algorithms. At the same time first of all it is necessary to start from the possibility of modifying the already existing test bench for hydraulic locomotive transmissions at the Dnipropetrovsk diesel locomotive repair plant «Promteplovoz». Methodology. In the work, the researchers proposed a methodology for modifying the sensor design and the algorithm for processing its signals. It is grounded on previous developments of tachometric sensor of the optical type on the basis of D-2MMU-2 sensor of the microprocessor automated test bench system of hydraulic locomotive transmission in the locomotive repair plant conditions. Selection of the necessary measurement algorithm and the number of sensor teeth is substantiated by calculating instrumental and methodological errors. Also, the studies aimed at identifying the source of interference in the measurement of rotational speed are described and solution for its elimination has been found. Findings. For the designed rotation speed sensor of the optical type based on the existing D-2MMU-2 sensor, the authors analyzed the dependence of the methodological and instrumental errors. Based on the obtained data more rational variant of the rotation speed calculation algorithm is proposed, and the number of teeth of the sensor disk is justified. Further, the main source of measurement interference was established and a method for improving the hardware of the hydraulic locomotive test bench was proposed. Originality. There were conducted the studies according to the methodological and instrumental errors of the designed rotation speed of sensor. The mechanisms of interference filtering arising from the
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On burst-and-coast swimming performance in fish-like locomotion
International Nuclear Information System (INIS)
Chung, M-H
2009-01-01
Burst-and-coast swimming performance in fish-like locomotion is studied via two-dimensional numerical simulation. The numerical method used is the collocated finite-volume adaptive Cartesian cut-cell method developed previously. The NACA00xx airfoil shape is used as an equilibrium fish-body form. Swimming in a burst-and-coast style is computed assuming that the burst phase is composed of a single tail-beat. Swimming efficiency is evaluated in terms of the mass-specific cost of transport instead of the Froude efficiency. The effects of the Reynolds number (based on the body length and burst time), duty cycle and fineness ratio (the body length over the largest thickness) on swimming performance (momentum capacity and the mass-specific cost of transport) are studied quantitatively. The results lead to a conclusion consistent with previous findings that a larval fish seldom swims in a burst-and-coast style. Given mass and swimming speed, a fish needs the least cost if it swims in a burst-and-coast style with a fineness ratio of 8.33. This energetically optimal fineness ratio is larger than that derived from the simple hydromechanical model proposed in literature. The calculated amount of energy saving in burst-and-coast swimming is comparable with the real-fish estimation in the literature. Finally, the predicted wake-vortex structures of both continuous and burst-and-coast swimming are biologically relevant.
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On burst-and-coast swimming performance in fish-like locomotion.
Chung, M-H
2009-09-01
Burst-and-coast swimming performance in fish-like locomotion is studied via two-dimensional numerical simulation. The numerical method used is the collocated finite-volume adaptive Cartesian cut-cell method developed previously. The NACA00xx airfoil shape is used as an equilibrium fish-body form. Swimming in a burst-and-coast style is computed assuming that the burst phase is composed of a single tail-beat. Swimming efficiency is evaluated in terms of the mass-specific cost of transport instead of the Froude efficiency. The effects of the Reynolds number (based on the body length and burst time), duty cycle and fineness ratio (the body length over the largest thickness) on swimming performance (momentum capacity and the mass-specific cost of transport) are studied quantitatively. The results lead to a conclusion consistent with previous findings that a larval fish seldom swims in a burst-and-coast style. Given mass and swimming speed, a fish needs the least cost if it swims in a burst-and-coast style with a fineness ratio of 8.33. This energetically optimal fineness ratio is larger than that derived from the simple hydromechanical model proposed in literature. The calculated amount of energy saving in burst-and-coast swimming is comparable with the real-fish estimation in the literature. Finally, the predicted wake-vortex structures of both continuous and burst-and-coast swimming are biologically relevant.
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DEFF Research Database (Denmark)
Chatterjee, Sromona; Nachstedt, Timo; Tamosiunaite, Minija
2015-01-01
-directed locomotion for the robot. The behavioural primitives of the robot are generated using a reinforcement learning approach called "Policy Improvement with Path Integrals" (PI2). PI2 is numerically simple and has the ability to deal with high-dimensional systems. Here, PI2 is used to learn the robot’s motor...... controls by finding proper locomotion control parameters, like joint angles and screw-drive unit velocities, in a coordinated manner for different goals. Thus, it is able to generate a large repertoire of motor primitives, which are selectively stored to form a primitive library. The learning process...
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Chatterjee, Krishnashis
The locomotive industry accounts for 2.5 % of the total fuel consumption in the US. Thus the necessity for reducing fuel consumption and emissions led to the development of the concept of hybrid locomotive which is dual powered by the diesel engine and electric motors. But the energy dissipated in braking such a locomotive in a year is enough to power over 9100 average US households over the same period of time. Recovering this energy using regenerative braking system and storing it in a electric battery is of great interest among researchers for improving overall efficiency and reducing consumption of fuels. In the present study, LiFePO4 batteries, a type of the state-of-art lithium-ion batteries, have been tested under different environmental and load conditions. Environmental temperatures were varied to analyze their effects on the charging and discharging patterns of the battery by using the CADEX battery analyzer in order to find the temperature range for optimum battery performance. The fluctuations of temperature of the battery surface were monitored along the length of the tests, using Infra-Red imaging and thermocouple probes at different points on the battery surface. Both battery performance characteristics and the variation of the battery surface temperature were also recorded for different load cycles in order to get a comprehensive picture of the heat generation and its effect on the behavior of the battery under different load conditions. Lastly a practical Load Cycle analysis of the battery has been performed which gave a picture of the heat generated by the battery and also the performance characteristics as it is subjected to a practical Load Cycle.
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Farrand, Ariana Q; Helke, Kristi L; Gregory, Rebecca A; Gooz, Monika; Hinson, Vanessa K; Boger, Heather A
Parkinson's disease (PD) is a progressive, neurodegenerative disorder with no disease-modifying therapies, and symptomatic treatments are often limited by debilitating side effects. In PD, locus coeruleus noradrenergic (LC-NE) neurons degenerate prior to substantia nigra dopaminergic (SN-DA) neurons. Vagus nerve stimulation (VNS) activates LC neurons, and decreases pro-inflammatory markers, allowing improvement of LC targets, making it a potential PD therapeutic. To assess therapeutic potential of VNS in a PD model. To mimic the progression of PD degeneration, rats received a systemic injection of noradrenergic neurotoxin DSP-4, followed one week later by bilateral intrastriatal injection of dopaminergic neurotoxin 6-hydroxydopamine. At this time, a subset of rats also had vagus cuffs implanted. After eleven days, rats received a precise VNS regimen twice a day for ten days, and locomotion was measured during each afternoon session. Immediately following final stimulation, rats were euthanized, and left dorsal striatum, bilateral SN and LC were sectioned for immunohistochemical detection of monoaminergic neurons (tyrosine hydroxylase, TH), α-synuclein, astrocytes (GFAP) and microglia (Iba-1). VNS significantly increased locomotion of lesioned rats. VNS also resulted in increased expression of TH in striatum, SN, and LC; decreased SN α-synuclein expression; and decreased expression of glial markers in the SN and LC of lesioned rats. Additionally, saline-treated rats after VNS, had higher LC TH and lower SN Iba-1. Our findings of increased locomotion, beneficial effects on LC-NE and SN-DA neurons, decreased α-synuclein density in SN TH-positive neurons, and neuroinflammation suggest VNS has potential as a novel PD therapeutic. Copyright © 2017 Elsevier Inc. All rights reserved.
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Ueda, Norihiro; Uemura, Yasushi; Zhang, Rong; Kitayama, Shuichi; Iriguchi, Shoichi; Kawai, Yohei; Yasui, Yutaka; Tatsumi, Minako; Ueda, Tatsuki; Liu, Tian-Yi; Mizoro, Yasutaka; Okada, Chihiro; Watanabe, Akira; Nakanishi, Mahito; Senju, Satoru; Nishimura, Yasuharu; Kuzushima, Kiyotaka; Kiyoi, Hitoshi; Naoe, Tomoki; Kaneko, Shin
2018-06-05
CD4 + T helper (Th) cell activation is essential for inducing cytotoxic T lymphocyte (CTL) responses against malignancy. We reprogrammed a Th clone specific for chronic myelogenous leukemia (CML)-derived b3a2 peptide to pluripotency and re-differentiated the cells into original TCR-expressing T-lineage cells (iPS-T cells) with gene expression patterns resembling those of group 1 innate lymphoid cells. CD4 gene transduction into iPS-T cells enhanced b3a2 peptide-specific responses via b3a2 peptide-specific TCR. iPS-T cells upregulated CD40 ligand (CD40L) expression in response to interleukin-2 and interleukin-15. In the presence of Wilms tumor 1 (WT1) peptide, antigen-specific dendritic cells (DCs) conditioned by CD4-modified CD40L high iPS-T cells stimulated WT1-specific CTL priming, which eliminated WT1 peptide-expressing CML cells in vitro and in vivo. Thus, CD4 modification of CD40L high iPS-T cells generates innate lymphoid helper-like cells inducing bcr-abl-specific TCR signaling that mediates effectiveanti-leukemic CTL responses via DC maturation, showing potential for adjuvant immunotherapy against leukemia. Copyright © 2018 The Authors. Published by Elsevier Inc. All rights reserved.
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The MAO-A inhibitor clorgyline reduces ethanol-induced locomotion and its volitional intake in mice.
Ledesma, Juan Carlos; Escrig, Miguel Angel; Pastor, Raúl; Aragon, Carlos M G
2014-01-01
Hydrogen peroxide is the co-substrate used by the enzyme catalase to form Compound I (the catalase-H2O2 system), which is the major pathway for the conversion of ethanol (EtOH) into acetaldehyde in the brain. This acetaldehyde has been involved in many of the effects of EtOH. Previous research demonstrated that treatments that change the levels of cerebral H2O2 available to catalase modulate the locomotor-stimulating effects of EtOH and its volitional intake in rodents. However, the source of H2O2 which is used by catalase to form Compound I and mediates the psychoactive actions of EtOH is unknown. One cause of the generation of H2O2 in the brain comes from the deamination of biogenic amines by the activity of MAO-A. Here we explore the consequences of the administration of the MAO-A inhibitor clorgyline on EtOH-induced locomotion and voluntary EtOH drinking. For the locomotor activity tests, we injected Swiss (RjOrl) mice intraperitoneally (IP) with clorgyline (0-10mg/kg) and later (0.5-8h) with EtOH (0-3.75 g/kg; IP). Following these treatments, mice were placed in locomotor activity chambers to measure their locomotion. For the drinking experiments, mice of the C57BL/6J strain were injected IP with clorgyline prior to offering them an EtOH (20%) solution following a drinking-in-the-dark procedure. Additional experiments were performed to assess the selectivity of this compound in altering EtOH-stimulated locomotion and EtOH intake. Moreover, we indirectly tested the ability of clorgyline to reduce brain H2O2 levels. We showed that this treatment selectively reduced EtOH-induced locomotion and its self-administration. Moreover, this compound decreased central H2O2 levels available to catalase. We suggest that H2O2 derived from the deamination of biogenic amines by the activity of MAO-A could determine the formation of brain EtOH-derived acetaldehyde. This centrally-formed acetaldehyde within the neurons of the aminergic system could play a role in the
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Patterned control of human locomotion
Lacquaniti, Francesco; Ivanenko, Yuri P; Zago, Myrka
2012-01-01
There is much experimental evidence for the existence of biomechanical constraints which simplify the problem of control of multi-segment movements. In addition, it has been hypothesized that movements are controlled using a small set of basic temporal components or activation patterns, shared by several different muscles and reflecting global kinematic and kinetic goals. Here we review recent studies on human locomotion showing that muscle activity is accounted for by a combination of few basic patterns, each one timed at a different phase of the gait cycle. Similar patterns are involved in walking and running at different speeds, walking forwards or backwards, and walking under different loading conditions. The corresponding weights of distribution to different muscles may change as a function of the condition, allowing highly flexible control. Biomechanical correlates of each activation pattern have been described, leading to the hypothesis that the co-ordination of limb and body segments arises from the coupling of neural oscillators between each other and with limb mechanical oscillators. Muscle activations need only intervene during limited time epochs to force intrinsic oscillations of the system when energy is lost. PMID:22411012
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Patterned control of human locomotion.
Lacquaniti, Francesco; Ivanenko, Yuri P; Zago, Myrka
2012-05-15
There is much experimental evidence for the existence of biomechanical constraints which simplify the problem of control of multi-segment movements. In addition, it has been hypothesized that movements are controlled using a small set of basic temporal components or activation patterns, shared by several different muscles and reflecting global kinematic and kinetic goals. Here we review recent studies on human locomotion showing that muscle activity is accounted for by a combination of few basic patterns, each one timed at a different phase of the gait cycle. Similar patterns are involved in walking and running at different speeds, walking forwards or backwards, and walking under different loading conditions. The corresponding weights of distribution to different muscles may change as a function of the condition, allowing highly flexible control. Biomechanical correlates of each activation pattern have been described, leading to the hypothesis that the co-ordination of limb and body segments arises from the coupling of neural oscillators between each other and with limb mechanical oscillators. Muscle activations need only intervene during limited time epochs to force intrinsic oscillations of the system when energy is lost.
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Synergy among rat T cells in the proliferative response to alloantigen
International Nuclear Information System (INIS)
Wright, P.W.; Loop, S.M.; Bernstein, I.D.
1979-01-01
A synergistic interaction in the proliferative response to alloantigen is described for mixtures of rat thymus and lymph node cells. The optimal conditions for synergy are quantitatively defined. Regression analysis of the slope of the dose-response curve has been utilized to estimate the degree of interaction in thymus--lymph node cell mixtures. The slope of the response of cell mixtures was noted to be significantly greater than the slope for the response of lympth node cells alone. Irradiation was shown to have a differential effect on the response of thymus and lymph node cells in mixtures. Irradiated thymus cells retained the capacity for synergy in mixtures, whereas irradiated lymph node cells did not. Additional studies have demonstrated that both de novo protein synthesis and specific antigen recognition by both responding cell populations in mixtures was required for maximal synergy. These studies demonstrate that synergy cannot be explained as an artifact of altered cell density in vitro. They establish that thymus cells and lymph node cells represent distinct subsets which manifest qualitatively different functions in the proliferative response to alloantigen. Thymus cells can respond directly to alloantigen by proliferation but also have the capacity to amplify the proliferative response of lymph node cells, a capacity which is resistant to X irradiation but requires recognition of alloantigen and de novo protein synthesis. Lymph node cells may similarly respond by proliferation to alloantigen but lack the amplifier activity of thymus cells. Synergy for rat lymphoidcells, like mouse lymphoid cells, has been shown to involve an interaction of thymus-derived lymphocytes
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LENUS (Irish Health Repository)
Ni Choileain, Niamh
2012-02-03
OBJECTIVES: To describe the profound alterations in host immunity that are produced by major surgery as demonstrated by experimental and clinical studies, and to evaluate the benefits of therapeutic strategies aimed at attenuating perioperative immune dysfunction. DATA SOURCES: A review of the English-language literature was conducted, incorporating searches of the MEDLINE, EMBASE, and Cochrane collaboration databases to identify laboratory and clinical studies investigating the cellular response to surgery. STUDY SELECTION: Original articles and case reports describing immune dysfunction secondary to surgical trauma were included. DATA EXTRACTION: The results were compiled to show outcomes of different studies and were compared. DATA SYNTHESIS: Current evidence indicates that the early systemic inflammatory response syndrome observed after major surgery that is characterized by proinflammatory cytokine release, microcirculatory disturbance, and cell-mediated immune dysfunction is followed by a compensatory anti-inflammatory response syndrome, which predisposes the patient to opportunistic infection, multiple organ dysfunction syndrome, and death. Because there are currently no effective treatment options for multiple organ dysfunction syndrome, measures to prevent its onset should be initiated at an early stage. Accumulating experimental evidence suggests that targeted therapeutic strategies involving immunomodulatory agents such as interferon gamma, granulocyte colony-stimulating factor, the prostaglandin E(2) antagonist, indomethacin, and pentoxifylline may be used for the treatment of systemic inflammatory response syndrome to prevent the onset of multiple organ dysfunction syndrome. CONCLUSIONS: Surgical trauma produces profound immunological dysfunction. Therapeutic strategies directed at restoring immune homeostasis should aim to redress the physiological proinflammatory-anti-inflammatory cell imbalance associated with major surgery.
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Natural Translating Locomotion Modulates Cortical Activity at Action Observation
Directory of Open Access Journals (Sweden)
Thierry Pozzo
2017-11-01
Full Text Available The present study verified if the translational component of locomotion modulated cortical activity recorded at action observation. Previous studies focusing on visual processing of biological motion mainly presented point light walker that were fixed on a spot, thus removing the net translation toward a goal that yet remains a critical feature of locomotor behavior. We hypothesized that if biological motion recognition relies on the transformation of seeing in doing and its expected sensory consequences, a significant effect of translation compared to centered displays on sensorimotor cortical activity is expected. To this aim, we explored whether EEG activity in the theta (4–8 Hz, alpha (8–12 Hz, beta 1 (14–20 Hz and beta 2 (20–32 Hz frequency bands exhibited selectivity as participants viewed four types of stimuli: a centered walker, a centered scrambled, a translating walker and a translating scrambled. We found higher theta synchronizations for observed stimulus with familiar shape. Higher power decreases in the beta 1 and beta 2 bands, indicating a stronger motor resonance was elicited by translating compared to centered stimuli. Finally, beta bands modulation in Superior Parietal areas showed that the translational component of locomotion induced greater motor resonance than human shape. Using a Multinomial Logistic Regression classifier we found that Dorsal-Parietal and Inferior-Frontal regions of interest (ROIs, constituting the core of action-observation system, were the only areas capable to discriminate all the four conditions, as reflected by beta activities. Our findings suggest that the embodiment elicited by an observed scenario is strongly mediated by horizontal body displacement.
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The slow cell death response when screening chemotherapeutic agents.
Blois, Joseph; Smith, Adam; Josephson, Lee
2011-09-01
To examine the correlation between cell death and a common surrogate of death used in screening assays, we compared cell death responses to those obtained with the sulforhodamine B (SRB) cell protein-based "cytotoxicity" assay. With the SRB assay, the Hill equation was used to obtain an IC50 and final cell mass, or cell mass present at infinite agent concentrations, with eight adherent cell lines and four agents (32 agent/cell combinations). Cells were treated with high agent concentrations (well above the SRB IC50) and the death response determined as the time-dependent decrease in cells failing to bind both annexin V and vital fluorochromes by flow cytometry. Death kinetics were categorized as fast (5/32) (similar to the reference nonadherent Jurkat line), slow (17/32), or none (10/32), despite positive responses in the SRB assay in all cases. With slow cell death, a single exposure to a chemotherapeutic agent caused a slow, progressive increase in dead (necrotic) and dying (apoptotic) cells for at least 72 h. Cell death (defined by annexin and/or fluorochrome binding) did not correlate with the standard SRB "cytotoxicity" assay. With the slow cell death response, a single exposure to an agent caused a slow conversion from vital to apoptotic and necrotic cells over at least 72 h (the longest time point examined). Here, increasing the time of exposure to agent concentrations modestly above the SRB IC50 provides a method of maximizing cell kill. If tumors respond similarly, sustained low doses of chemotherapeutic agents, rather than a log-kill, maximum tolerated dose strategy may be an optimal strategy of maximizing tumor cell death.
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Manohar, Anitha; Foffani, Guglielmo; Ganzer, Patrick D; Bethea, John R; Moxon, Karen A
2017-01-01
After paralyzing spinal cord injury the adult nervous system has little ability to ‘heal’ spinal connections, and it is assumed to be unable to develop extra-spinal recovery strategies to bypass the lesion. We challenge this assumption, showing that completely spinalized adult rats can recover unassisted hindlimb weight support and locomotion without explicit spinal transmission of motor commands through the lesion. This is achieved with combinations of pharmacological and physical therapies that maximize cortical reorganization, inducing an expansion of trunk motor cortex and forepaw sensory cortex into the deafferented hindlimb cortex, associated with sprouting of corticospinal axons. Lesioning the reorganized cortex reverses the recovery. Adult rats can thus develop a novel cortical sensorimotor circuit that bypasses the lesion, probably through biomechanical coupling, to partly recover unassisted hindlimb locomotion after complete spinal cord injury. DOI: http://dx.doi.org/10.7554/eLife.23532.001 PMID:28661400
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Directory of Open Access Journals (Sweden)
Daniel Joyce
2018-05-01
Full Text Available Myeloid-derived suppressor cells (MDSCs are markedly increased in cancer patients and tumor-bearing mice and promote tumor growth and survival by inhibiting host innate and adaptive immunity. In this study, we generated and characterized MDSCs from murine-induced pluripotent stem cells (iPSCs. The iPSCs were co-cultured with OP9 cells, stimulated with GM-CSF, and became morphologically heterologous under co-culturing with hepatic stellate cells. Allogeneic and OVA-specific antigen stimulation demonstrated that iPS-MDSCs have a T-cell regulatory function. Furthermore, a popliteal lymph node assay and autoimmune hepatitis model showed that iPS-MDSCs also regulate immune responsiveness in vivo and have a therapeutic effect against hepatitis. Taken together, our results demonstrated a method of generating functional MDSCs from iPSCs and highlighted the potential of iPS-MDSCs as a key cell therapy resource for transplantation and autoimmune diseases. Keywords: Myeloid-derived suppressor cells, Induced pluripotent stem cells, T cell response
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T-cell-independent immune responses do not require CXC ligand 13-mediated B1 cell migration.
Colombo, Matthew J; Sun, Guizhi; Alugupalli, Kishore R
2010-09-01
The dynamic movement of B cells increases the probability of encountering specific antigen and facilitates cell-cell interactions required for mounting a rapid antibody response. B1a and B1b cells are enriched in the coelomic cavity, contribute to T-cell-independent (TI) antibody responses, and increase in number upon antigen exposure. B1 cell movement is largely governed by Cxc ligand 13 (Cxcl13), and mice deficient in this chemokine have a severe reduction in peritoneal B1 cells. In this study, we examined the role of Cxcl13-dependent B cell migration using Borrelia hermsii infection or intraperitoneal immunization with pneumococcal polysaccharide or 4-hydroxy-3-nitrophenyl-acetyl (NP)-Ficoll, all of which induce robust antibody responses from B1b cells. Surprisingly, we found that antibody responses to B. hermsii or to FhbA, an antigenic target of B1b cells, and the resolution of bacteremia were indistinguishable between wild-type and Cxcl13-/- mice. Importantly, we did not observe an expansion of peritoneal B1b cell numbers in Cxcl13-/- mice. Nonetheless, mice that had resolved infection were resistant to reinfection, indicating that the peritoneal B1b cell reservoir is not required for controlling B. hermsii. Furthermore, despite a reduced peritoneal B1b compartment, immunization with pneumococcal polysaccharide vaccine yielded comparable antigen-specific antibody responses in wild-type and Cxcl13-/- mice and conferred protection against Streptococcus pneumoniae. Likewise, immunization with NP-Ficoll elicited similar antibody responses in wild-type and Cxcl13-/- mice. These data demonstrate that homing of B1 cells into the coelomic cavity is not a requirement for generating protective TI antibody responses, even when antigen is initially localized to this anatomical compartment.
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Artifactual voltage response recorded from hair cells with patch-clamp amplifiers.
Masetto, S; Weng, T; Valli, P; Correia, M J
1999-06-23
Patch-clamp amplifiers (PCAs) are commonly used to characterize voltage- and current-clamp responses in the same cell. However, the cell membrane voltage response can be severely distorted by PCAs working in the current-clamp mode. Here we compare the voltage response of pigeon semicircular canal hair cells in situ, recorded with two different PCAs, and with a classic microelectrode bridge amplifier (BA). We found that the voltage response of hair cells recorded with PCAs differed significantly from that recorded with the BA. The true hair cell membrane voltage response to positive current steps was characterized by a strongly damped oscillation, whose frequency and duration depended on hair cell location in the sensory crista ampullaris.
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Peng, Jifeng; Dabiri, John O; Madden, Peter G; Lauder, George V
2007-02-01
Swimming and flying animals generate unsteady locomotive forces by delivering net momentum into the fluid wake. Hence, swimming and flying forces can be quantified by measuring the momentum of animal wakes. A recently developed model provides an approach to empirically deduce swimming and flying forces based on the measurement of velocity and vortex added-mass in the animal wake. The model is contingent on the identification of the vortex boundary in the wake. This paper demonstrates the application of that method to a case study quantifying the instantaneous locomotive forces generated by the pectoral fins of the bluegill sunfish (Lepomis macrochirus Rafinesque), measured using digital particle image velocimetry (DPIV). The finite-time Lyapunov exponent (FTLE) field calculated from the DPIV data was used to determine the wake vortex boundary, according to recently developed fluid dynamics theory. Momentum of the vortex wake and its added-mass were determined and the corresponding instantaneous locomotive forces were quantified at discrete time points during the fin stroke. The instantaneous forces estimated in this study agree in magnitude with the time-averaged forces quantified for the pectoral fin of the same species swimming in similar conditions and are consistent with the observed global motion of the animals. A key result of this study is its suggestion that the dynamical effect of the vortex wake on locomotion is to replace the real animal fin with an ;effective appendage', whose geometry is dictated by the FTLE field and whose interaction with the surrounding fluid is wholly dictated by inviscid concepts from potential flow theory. Benefits and limitations of this new framework for non-invasive instantaneous force measurement are discussed, and its application to comparative biomechanics and engineering studies is suggested.
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Respiratory epithelial cell responses to cigarette smoke: the unfolded protein response.
Kelsen, Steven G
2012-12-01
Cigarette smoking exposes the respiratory epithelium to highly toxic, reactive oxygen nitrogen species which damage lung proteins in the endoplasmic reticulum (ER), the cell organelle in which all secreted and membrane proteins are processed. Accumulation of damaged or misfolded proteins in the ER, a condition termed ER stress, activates a complex cellular process termed the unfolded protein responses (UPR). The UPR acts to restore cellular protein homeostasis by regulating all aspects of protein metabolism including: protein translation and syntheses; protein folding; and protein degradation. However, activation of the UPR may also induce signaling pathways which induce inflammation and cell apoptosis. This review discusses the role of UPR in the respiratory epithelial cell response to cigarette smoke and the pathogenesis of lung diseases like COPD. Copyright © 2012 Elsevier Ltd. All rights reserved.
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Response of brown anoles Anolis sagrei to multimodal signals from a native and novel predator
Directory of Open Access Journals (Sweden)
Omar L. ELMASRI, Marcus S. MORENO, Courtney A. NEUMANN, Daniel T. BLUMSTEIN
2012-06-01
Full Text Available Multiple studies have focused on the importance of single modalities (visual, auditory, olfactory in eliciting anti-predator behavior, however multiple channels are often engaged simultaneously. While examining responses to multiple cues can potentially reveal more complex behavioral responses, little is known about how multimodal processing evolves. By contrasting response to familiar and novel predators, insights can be gained into the evolution of multimodal responses. We studied brown anoles’ (Anolis sagrei response to acoustic and visual predatory cues of a common potential predator, the great-tailed grackle Quiscalus mexicanus and to the American kestrel Falco sparverius, a species found in other populations but not present in our study population. We observed anole behavior before and after a stimulus and quantified rates of looking, display, and locomotion. Anoles increased their rate of locomotion in response to grackle models, an effect modulated by grackle vocalizations. No such response or modulation was seen when anoles were presented with kestrel stimuli. This suggests that the degree of sophistication of anole response to predators is experience dependent and that relaxed selection can result in reduced anti-predator response following loss of predators [Current Zoology 58 (6: 791–796, 2012].
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Ergonomics of locomotive design in South African Gold and Platinum mines.
CSIR Research Space (South Africa)
Smith, JR
2002-03-01
Full Text Available to determine reach, posture, field of view and control locations for the operator. • determining the design modifications, which would improve the overall operation of the mine locomotives in South African gold and platinum mines • formu... Acknowledgements Invaluable contributions from the following people are acknowledged: Mr J Annandale Impala Platinum Ltd., Shaft No. 1 Mr W Birmingham Joel Gold Mining Company Ltd. Mr W Brits Anglogold Ltd., Savuka Mine Mr G Burger Anglogold Ltd, West Wits...
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B Cells Promote Th1- Skewed NKT Cell Response by CD1d-TCR Interaction.
Shin, Jung Hoon; Park, Se-Ho
2013-10-01
CD1d expressing dendritic cells (DCs) are good glyco-lipid antigen presenting cells for NKT cells. However, resting B cells are very weak stimulators for NKT cells. Although α-galactosylceramide (α-GalCer) loaded B cells can activate NKT cells, it is not well defined whether B cells interfere NKT cell stimulating activity of DCs. Unexpectedly, we found in this study that B cells can promote Th1-skewed NKT cell response, which means a increased level of IFN-γ by NKT cells, concomitant with a decreased level of IL-4, in the circumstance of co-culture of DCs and B Cells. Remarkably, the response promoted by B cells was dependent on CD1d expression of B cells.
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Correlates between calcaneal morphology and locomotion in extant and extinct carnivorous mammals.
Panciroli, Elsa; Janis, Christine; Stockdale, Maximilian; Martín-Serra, Alberto
2017-10-01
Locomotor mode is an important component of an animal's ecology, relating to both habitat and substrate choice (e.g., arboreal versus terrestrial) and in the case of carnivores, to mode of predation (e.g., ambush versus pursuit). Here, we examine how the morphology of the calcaneum, the 'heel bone' in the tarsus, correlates with locomotion in extant carnivores. Other studies have confirmed the correlation of calcaneal morphology with locomotion behaviour and habitat. The robust nature of the calcaneum means that it is frequently preserved in the fossil record. Here, we employ linear measurements and 2D-geometric morphometrics on a sample of calcanea from eighty-seven extant carnivorans and demonstrate a signal of correlation between calcaneal morphology and locomotor mode that overrides phylogeny. We used this correlation to determine the locomotor mode, and hence aspects of the palaeobiology of, 47 extinct carnivorous mammal taxa, including both Carnivora and Creodonta. We found ursids (bears), clustered together, separate from the other carnivorans. Our results support greater locomotor diversity for nimravids (the extinct 'false sabertooths', usually considered to be more arboreal), than previously expected. However, there are limitations to interpretation of extinct taxa because their robust morphology is not fully captured in the range of modern carnivoran morphology. © 2017 Wiley Periodicals, Inc.
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FIMTrack: An open source tracking and locomotion analysis software for small animals.
Directory of Open Access Journals (Sweden)
Benjamin Risse
2017-05-01
Full Text Available Imaging and analyzing the locomotion behavior of small animals such as Drosophila larvae or C. elegans worms has become an integral subject of biological research. In the past we have introduced FIM, a novel imaging system feasible to extract high contrast images. This system in combination with the associated tracking software FIMTrack is already used by many groups all over the world. However, so far there has not been an in-depth discussion of the technical aspects. Here we elaborate on the implementation details of FIMTrack and give an in-depth explanation of the used algorithms. Among others, the software offers several tracking strategies to cover a wide range of different model organisms, locomotion types, and camera properties. Furthermore, the software facilitates stimuli-based analysis in combination with built-in manual tracking and correction functionalities. All features are integrated in an easy-to-use graphical user interface. To demonstrate the potential of FIMTrack we provide an evaluation of its accuracy using manually labeled data. The source code is available under the GNU GPLv3 at https://github.com/i-git/FIMTrack and pre-compiled binaries for Windows and Mac are available at http://fim.uni-muenster.de.
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Directory of Open Access Journals (Sweden)
Kevin eMachino
2014-07-01
Full Text Available Multi-Worm Tracker (MWT is a real-time computer vision system that can simultaneously quantify motional patterns of multiple worms. MWT provides several behavioral parameters, including analysis of accurate real-time locomotion speed in the nematode, Caenorhabditis elegans. Here, we determined locomotion speed of the Alzheimer’s disease (AD transgenic strain that over-expresses human beta-amyloid1-42 (Aβ in the neurons. The MWT analysis showed that the AD strain logged a slower average speed than the wild type worms. The results may be consistent with the observation that the AD patients with dementia tend to show deficits in physical activities, including frequent falls. The AD strain showed reduced ability of the eggs to hatch and slowed hatching of the eggs. Thus, over-expression of Aβ in neurons causes negative effects on locomotion and hatchability. This study sheds light on new examples of detrimental effects that Aβ deposits can exhibit using C. elegans as a model system. The information gathered from this study indicates that the motion tracking analysis is a cost-effective, efficient way to assess the deficits of Aβ over-expression in the C. elegans system.
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Directory of Open Access Journals (Sweden)
Heng Li
2015-01-01
Full Text Available In 2014, more than 43 cities in China were racing to construct their urban rail systems (including metro and light rail systems, recognizing that an urban rail system will be a good solution to the tough problems that they are faced with, including traffic congestion and PM2.5 air pollution. On 22 August 2012, the first electric double-layer capacitor (EDLC energy storage-type rail vehicle in the world was unveiled at Zhuzhou Electric Locomotive Co., China. The EDLC rail system has been considered a promising sustainable urban rail system, which is expected to further improve the energy efficiency and to reduce environmental pollution. The first commercial EDLC tram produced by Zhuzhou Electric Locomotive Co. has been applied at Guangzhou Metro Corp. recently. From the view point of scientific research, the system design and energy management of EDLC rail systems have been extensively studied in the literature, while the stationary charging station design for the EDLC energy storage-type urban rail vehicles has been rarely reported. Thus, the aim of this paper is to report a stationary charging station that has been successfully applied in the EDLC rail system produced by Zhuzhou Electric Locomotive Co., China.
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Directory of Open Access Journals (Sweden)
Sarah A. Turner
2016-01-01
Full Text Available Much emphasis has been placed recently on the repair of degenerate discs using implanted cells, such as disc cells or bone marrow derived mesenchymal stem cells (MSCs. This study examines the temporal response of bovine and human nucleus pulposus (NP cells and MSCs cultured in monolayer following exposure to altered levels of glucose (0, 3.15, and 4.5 g/L and foetal bovine serum (0, 10, and 20% using an automated time-lapse imaging system. NP cells were also exposed to the cell death inducers, hydrogen peroxide and staurosporine, in comparison to serum starvation. We have demonstrated that human NP cells show an initial “shock” response to reduced nutrition (glucose. However, as time progresses, NP cells supplemented with serum recover with minimal evidence of cell death. Human NP cells show no evidence of proliferation in response to nutrient supplementation, whereas MSCs showed greater response to increased nutrition. When specifically inducing NP cell death with hydrogen peroxide and staurosporine, as expected, the cell number declined. These results support the concept that implanted NP cells or MSCs may be capable of survival in the nutrient-poor environment of the degenerate human disc, which has important clinical implications for the development of IVD cell therapies.
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The Role of B Cells for in Vivo T Cell Responses to a Friend Virus-Induced Leukemia
Schultz, Kirk R.; Klarnet, Jay P.; Gieni, Randall S.; Hayglass, Kent T.; Greenberg, Philip D.
1990-08-01
B cells can function as antigen-presenting cells and accessory cells for T cell responses. This study evaluated the role of B cells in the induction of protective T cell immunity to a Friend murine leukemia virus (F-MuLV)-induced leukemia (FBL). B cell-deficient mice exhibited significantly reduced tumor-specific CD4^+ helper and CD8^+ cytotoxic T cell responses after priming with FBL or a recombinant vaccinia virus containing F-MuLV antigens. Moreover, these mice had diminished T cell responses to the vaccinia viral antigens. Tumor-primed T cells transferred into B cell-deficient mice effectively eradicated disseminated FBL. Thus, B cells appear necessary for efficient priming but not expression of tumor and viral T cell immunity.
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Phagocytic response of astrocytes to damaged neighboring cells.
Directory of Open Access Journals (Sweden)
Nicole M Wakida
Full Text Available This study aims to understand the phagocytic response of astrocytes to the injury of neurons or other astrocytes at the single cell level. Laser nanosurgery was used to damage individual cells in both primary mouse cortical astrocytes and an established astrocyte cell line. In both cases, the release of material/substances from laser-irradiated astrocytes or neurons induced a phagocytic response in near-by astrocytes. Propidium iodide stained DNA originating from irradiated cells was visible in vesicles of neighboring cells, confirming phagocytosis of material from damaged cortical cells. In the presence of an intracellular pH indicator dye, newly formed vesicles correspond to acidic pH fluorescence, thus suggesting lysosome bound degradation of cellular debris. Cells with shared membrane connections prior to laser damage had a significantly higher frequency of induced phagocytosis compared to isolated cells with no shared membrane. The increase in phagocytic response of cells with a shared membrane occurred regardless of the extent of shared membrane (a thin filopodial connection vs. a cell cluster with significant shared membrane. In addition to the presence (or lack of a membrane connection, variation in phagocytic ability was also observed with differences in injury location within the cell and distance separating isolated astrocytes. These results demonstrate the ability of an astrocyte to respond to the damage of a single cell, be it another astrocyte, or a neuron. This single-cell level of analysis results in a better understanding of the role of astrocytes to maintain homeostasis in the CNS, particularly in the sensing and removal of debris in damaged or pathologic nervous tissue.
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Healthy human T-Cell Responses to Aspergillus fumigatus antigens.
Directory of Open Access Journals (Sweden)
Neelkamal Chaudhary
2010-02-01
Full Text Available Aspergillus fumigatus is associated with both invasive and allergic pulmonary diseases, in different hosts. The organism is inhaled as a spore, which, if not cleared from the airway, germinates into hyphal morphotypes that are responsible for tissue invasion and resultant inflammation. Hyphae secrete multiple products that function as antigens, evoking both a protective (T(H1-T(H17 and destructive allergic (T(H2 immunity. How Aspergillus allergens (Asp f proteins participate in the development of allergic sensitization is unknown.To determine whether Asp f proteins are strictly associated with T(H2 responses, or represent soluble hyphal products recognized by healthy hosts, human T cell responses to crude and recombinant products were characterized by ELISPOT. While responses (number of spots producing IFN-gamma, IL-4 or IL-17 to crude hyphal antigen preparations were weak, responses to recombinant Asp f proteins were higher. Recombinant allergens stimulated cells to produce IFN-gamma more so than IL-4 or IL-17. Volunteers exhibited a diverse CD4+ and CD8+ T cell antigen recognition profile, with prominent CD4 T(H1-responses to Asp f3 (a putative peroxismal membrane protein, Asp f9/16 (cell wall glucanase, Asp f11 (cyclophilin type peptidyl-prolyl isomerase and Asp f22 (enolase. Strong IFN-gamma responses were reproduced in most subjects tested over 6 month intervals.Products secreted after conidial germination into hyphae are differentially recognized by protective T cells in healthy, non-atopic individuals. Defining the specificity of the human T cell repertoire, and identifying factors that govern early responses may allow for development of novel diagnostics and therapeutics for both invasive and allergic Aspergillus diseases.
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Directory of Open Access Journals (Sweden)
Aude Lafoux
Full Text Available Aging is associated with a loss of muscle mass and functional capacity. Present study was designed to compare the impact of specific dairy proteins on muscular function with or without a low-intensity physical activity program on a treadmill in an aged rat model. We investigated the effects of nutritional supplementation, five days a week over a 2-month period with a slow digestible protein, casein or fast digestible proteins, whey or soluble milk protein, on strength and locomotor parameters in sedentary or active aged Wistar RjHan rats (17-19 months of age. An extensive gait analysis was performed before and after protein supplementation. After two months of protein administration and activity program, muscle force was evaluated using a grip test, spontaneous activity using an open-field and muscular mass by specific muscle sampling. When aged rats were supplemented with proteins without exercise, only minor effects of different diets on muscle mass and locomotion were observed: higher muscle mass in the casein group and improvement of stride frequencies with soluble milk protein. By contrast, supplementation with soluble milk protein just after physical activity was more effective at improving overall skeletal muscle function in old rats compared to casein. For active old rats supplemented with soluble milk protein, an increase in locomotor activity in the open field and an enhancement of static and dynamic gait parameters compared to active groups supplemented with casein or whey were observed without any differences in muscle mass and forelimb strength. These results suggest that consumption of soluble milk protein as a bolus immediately after a low intensity physical activity may be a suitable nutritional intervention to prevent decline in locomotion in aged rats and strengthen the interest to analyze the longitudinal aspect of locomotion in aged rodents.
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Lafoux, Aude; Baudry, Charlotte; Bonhomme, Cécile; Le Ruyet, Pascale; Huchet, Corinne
2016-01-01
Aging is associated with a loss of muscle mass and functional capacity. Present study was designed to compare the impact of specific dairy proteins on muscular function with or without a low-intensity physical activity program on a treadmill in an aged rat model. We investigated the effects of nutritional supplementation, five days a week over a 2-month period with a slow digestible protein, casein or fast digestible proteins, whey or soluble milk protein, on strength and locomotor parameters in sedentary or active aged Wistar RjHan rats (17-19 months of age). An extensive gait analysis was performed before and after protein supplementation. After two months of protein administration and activity program, muscle force was evaluated using a grip test, spontaneous activity using an open-field and muscular mass by specific muscle sampling. When aged rats were supplemented with proteins without exercise, only minor effects of different diets on muscle mass and locomotion were observed: higher muscle mass in the casein group and improvement of stride frequencies with soluble milk protein. By contrast, supplementation with soluble milk protein just after physical activity was more effective at improving overall skeletal muscle function in old rats compared to casein. For active old rats supplemented with soluble milk protein, an increase in locomotor activity in the open field and an enhancement of static and dynamic gait parameters compared to active groups supplemented with casein or whey were observed without any differences in muscle mass and forelimb strength. These results suggest that consumption of soluble milk protein as a bolus immediately after a low intensity physical activity may be a suitable nutritional intervention to prevent decline in locomotion in aged rats and strengthen the interest to analyze the longitudinal aspect of locomotion in aged rodents.
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Kinematics and ontogeny of locomotion in monkeys and human babies.
Niemitz, Carsten
2002-03-01
Early ontogenetic stages are often assumed to reflect or to be similar to past phylogenetic stages within the evolution of man. Therefore, as a first step, the quadrupedal crawling locomotion of human children was analysed and compared to the quadrupedal walk of Macaca fascicularis. The movements of the human child were not only more irregular, they differed from the walk of the monkey mainly through extraordinarily short swing phases, and also through strong scoliotic movements of the spine. There is a compulsory synchronisation in the hip and knee joint movements of the human crawling baby. We conclude that human crawling may be a behavioural recapitulation of a quadrupedal evolutionary stage. However, with reference to kinematics, man is not only characterised by his unique, habitually bipedal, upright gait but also by a second, equally unique locomotion, namely crawling, which he assumes for a short phase during his first year of life.--The walking movements of the limbs in toddling infants were mainly characterised by i) rather stiff, abducted arms, which were moved mostly by spine torsions (similar to those of bipedally walking Gorilla) and not as a suspensory pendulum. However, they rather work as levers for the elastic torsion pendulum of the spine. ii) They are also characterised by frequently lacking the minor knee flexion, which occurs at about the heel strike within each stride of the adult human. Besides many other details of the results, foot movements differed from adult ones mainly in that the whole plantar surface was placed flat on the ground within a few milliseconds.
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Correia, Patrícia A; Lottem, Eran; Banerjee, Dhruba; Machado, Ana S; Carey, Megan R; Mainen, Zachary F
2017-01-01
Serotonin (5-HT) is associated with mood and motivation but the function of endogenous 5-HT remains controversial. Here, we studied the impact of phasic optogenetic activation of 5-HT neurons in mice over time scales from seconds to weeks. We found that activating dorsal raphe nucleus (DRN) 5-HT neurons induced a strong suppression of spontaneous locomotor behavior in the open field with rapid kinetics (onset ≤1 s). Inhibition of locomotion was independent of measures of anxiety or motor impairment and could be overcome by strong motivational drive. Repetitive place-contingent pairing of activation caused neither place preference nor aversion. However, repeated 15 min daily stimulation caused a persistent increase in spontaneous locomotion to emerge over three weeks. These results show that 5-HT transients have strong and opposing short and long-term effects on motor behavior that appear to arise from effects on the underlying factors that motivate actions. DOI: http://dx.doi.org/10.7554/eLife.20975.001 PMID:28193320
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Touching force response of the piezoelectric Braille cell.
Smithmaitrie, Pruittikorn; Kanjantoe, Jinda; Tandayya, Pichaya
2008-11-01
The objective of this research is to investigate dynamic responses of the piezoelectric Braille cell when it is subjected to both electrical signal and touching force. Physical behavior of the piezoelectric actuator inside the piezoelectric Braille cell is analyzed. The mathematical model of the piezoelectric Braille system is presented. Then, data of visually impaired people using a Braille Note is studied as design information and a reference input for calculation of the piezoelectric Braille response under the touching force. The results show dynamic responses of the piezoelectric Braille cell. The designed piezoelectric bimorph has a settling time of 0.15 second. The relationship between the Braille dot height and applied voltage is linear. The behavior of the piezoelectric Braille dot when it is touched during operation shows that the dot height is decreased as the force increases. The result provides understanding of the piezoelectric Braille cell behavior under both touching force and electrical excitation simultaneously. This is the important issue for the design and development of piezoelectric Braille cells in senses of controlling Braille dot displacement or force-feedback in the future.
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Directory of Open Access Journals (Sweden)
Ohkawara Kazunori
2011-11-01
Full Text Available Abstract Background Although physical activity recommendations for public health have focused on locomotive activity such as walking and running, it is uncertain how much these activities contribute to overall physical activity level (PAL. The purpose of the present study was to determine the contribution of locomotive activity to PAL using total step counts measured in a calorimeter study. Methods PAL, calculated as total energy expenditure divided by basal metabolic rate, was evaluated in 11 adult men using three different conditions for 24-hour human calorimeter measurements: a low-activity day (L-day targeted at a low active level of PAL (1.45, and a high-frequency moderate activity day (M-day or a high-frequency vigorous activity day (V-day targeted at an active level of PAL (1.75. These subjects were permitted only light activities except prescribed activities. In a separate group of 41 adults, free-living PAL was evaluated using doubly-labeled water (DLW. In both experiments, step counts per day were also measured using an accelerometer. Results In the human calorimeter study, PAL and step counts were 1.42 ± 0.10 and 8,973 ± 543 steps/d (L-day, 1.82 ± 0.14 and 29,588 ± 1,126 steps/d (M-day, and 1.74 ± 0.15 and 23,755 ± 1,038 steps/d (V-day, respectively. In the DLW study, PAL and step counts were 1.73 ± 0.15 and 10,022 ± 2,605 steps/d, and there was no significant relationship between PAL and daily step counts. Conclusions These results indicate that an enormous number of steps are needed for an active level of PAL if individuals extend physical activity-induced energy expenditure by only locomotive activity. Therefore, non-locomotive activity such as household activity should also play a significant role in increasing PAL under free-living conditions.
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Zink, V; Štípková, M; Lassen, J
2011-10-01
The aim of this study was to estimate genetic parameters for fertility traits and linear type traits in the Czech Holstein dairy cattle population. Phenotypic data regarding 12 linear type traits, measured in first lactation, and 3 fertility traits, measured in each of first and second lactation, were collected from 2005 to 2009 in the progeny testing program of the Czech-Moravian Breeders Corporation. The number of animals for each linear type trait was 59,467, except for locomotion, where 53,436 animals were recorded. The 3-generation pedigree file included 164,125 animals. (Co)variance components were estimated using AI-REML in a series of bivariate analyses, which were implemented via the DMU package. Fertility traits included days from calving to first service (CF1), days open (DO1), and days from first to last service (FL1) in first lactation, and days from calving to first service (CF2), days open (DO2), and days from first to last service (FL2) in second lactation. The number of animals with fertility data varied between traits and ranged from 18,915 to 58,686. All heritability estimates for reproduction traits were low, ranging from 0.02 to 0.04. Heritability estimates for linear type traits ranged from 0.03 for locomotion to 0.39 for stature. Estimated genetic correlations between fertility traits and linear type traits were generally neutral or positive, whereas genetic correlations between body condition score and CF1, DO1, FL1, CF2 and DO2 were mostly negative, with the greatest correlation between BCS and CF2 (-0.51). Genetic correlations with locomotion were greatest for CF1 and CF2 (-0.34 for both). Results of this study show that cows that are genetically extreme for angularity, stature, and body depth tend to perform poorly for fertility traits. At the same time, cows that are genetically predisposed for low body condition score or high locomotion score are generally inferior in fertility. Copyright © 2011 American Dairy Science Association
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Development and Testing of a Mobile Robot with Hybrid Legged-Wheeled Locomotion
Directory of Open Access Journals (Sweden)
Petre Barbu
2017-06-01
Full Text Available In this paper the authors present the development and testing process of a mobile robot with hybrid legged-wheeled locomotion, that can be used for exploring dangerous environments. The robot has a high adaptability to rough terrain by being able to modify its ride height, to overpass step or ditch type obstacles and most of all, being able to operate while overturned or to revert itself into the normal operating position.
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Directory of Open Access Journals (Sweden)
Maekawa Tatsunori
2012-04-01
Full Text Available Abstract Background Leucine-rich repeat kinase 2 (LRRK2 is the gene responsible for autosomal-dominant Parkinson’s disease (PD, PARK8, but the mechanism by which LRRK2 mutations cause neuronal dysfunction remains unknown. In the present study, we investigated for the first time a transgenic (TG mouse strain expressing human LRRK2 with an I2020T mutation in the kinase domain, which had been detected in the patients of the original PARK8 family. Results The TG mouse expressed I2020T LRRK2 in dopaminergic (DA neurons of the substantia nigra, ventral tegmental area, and olfactory bulb. In both the beam test and rotarod test, the TG mice exhibited impaired locomotive ability in comparison with their non-transgenic (NTG littermates. Although there was no obvious loss of DA neurons in either the substantia nigra or striatum, the TG brain showed several neurological abnormalities such as a reduced striatal dopamine content, fragmentation of the Golgi apparatus in DA neurons, and an increased degree of microtubule polymerization. Furthermore, the tyrosine hydroxylase-positive primary neurons derived from the TG mouse showed an increased frequency of apoptosis and had neurites with fewer branches and decreased outgrowth in comparison with those derived from the NTG controls. Conclusions The I2020T LRRK2 TG mouse exhibited impaired locomotive ability accompanied by several dopaminergic neuron abnormalities. The TG mouse should provide valuable clues to the etiology of PD caused by the LRRK2 mutation.
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Zainudin, M. N. Shah; Sulaiman, Md Nasir; Mustapha, Norwati; Perumal, Thinagaran
2017-10-01
Prior knowledge in pervasive computing recently garnered a lot of attention due to its high demand in various application domains. Human activity recognition (HAR) considered as the applications that are widely explored by the expertise that provides valuable information to the human. Accelerometer sensor-based approach is utilized as devices to undergo the research in HAR since their small in size and this sensor already build-in in the various type of smartphones. However, the existence of high inter-class similarities among the class tends to degrade the recognition performance. Hence, this work presents the method for activity recognition using our proposed features from combinational of spectral analysis with statistical descriptors that able to tackle the issue of differentiating stationary and locomotion activities. The noise signal is filtered using Fourier Transform before it will be extracted using two different groups of features, spectral frequency analysis, and statistical descriptors. Extracted signal later will be classified using random forest ensemble classifier models. The recognition results show the good accuracy performance for stationary and locomotion activities based on USC HAD datasets.
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Locomotion of bacteria in liquid flow and the boundary layer effect on bacterial attachment.
Zhang, Chao; Liao, Qiang; Chen, Rong; Zhu, Xun
2015-06-12
The formation of biofilm greatly affects the performance of biological reactors, which highly depends on bacterial swimming and attachment that usually takes place in liquid flow. Therefore, bacterial swimming and attachment on flat and circular surfaces with the consideration of flow was studied experimentally. Besides, a mathematical model comprehensively combining bacterial swimming and motion with flow is proposed for the simulation of bacterial locomotion and attachment in flow. Both experimental and theoretical results revealed that attached bacteria density increases with decreasing boundary layer thickness on both flat and circular surfaces, the consequence of which is inherently related to the competition between bacterial swimming and the non-slip motion with flow evaluated by the Péclet number. In the boundary layer, where the Péclet number is relatively higher, bacterial locomotion mainly depends on bacterial swimming. Thinner boundary layer promotes bacterial swimming towards the surface, leading to higher attachment density. To enhance the performance of biofilm reactors, it is effective to reduce the boundary layer thickness on desired surfaces. Copyright © 2015 Elsevier Inc. All rights reserved.
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Sparwasser, T; Vabulas, R M; Villmow, B; Lipford, G B; Wagner, H
2000-12-01
Receptors for conserved molecular patterns associated with microbial pathogens induce synthesis of co-stimulatory molecules and cytokines in immature dendritic cells (DC), as do antigen-reactive CD4 T helper cells via CD40 signaling. Once activated, antigen-presenting DC may activate CD8 T cell responses in a T helper cell-independent fashion. Using immunostimulatory CpG-oligonucleotides (ODN) mimicking bacterial CpG-DNA, we tested whether CpG-DNA bypasses the need for T helper cells in CTL responses towards proteins by directly activating antigen-presenting DC to transit into professional APC. We describe that immature DC in situ constitutively process soluble proteins and generate CD8 T cell determinants yet CD8 T cell responses remain abortive. Induction of primary antigen-specific CD8 cytotoxic T lymphocyte (CTL)-mediated responses becomes initiated in wild-type as well as T helper cell-deficient mice, provided soluble protein and CpG-ODN are draining into the same lymph node. Specifically we show that CpG-ODN trigger antigen-presenting immature DC within the draining lymph node to acutely up-regulate co-stimulatory molecules and produce IL-12. These results provide new insights for generating in vivo efficient CTL responses to soluble proteins which may influence vaccination strategies.
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Biodiesel fuel costs and environmental issues when powering railway locomotives
Energy Technology Data Exchange (ETDEWEB)
Mirza, Abdul; Ziemer, Norbert; Tatara, Robert; Moraga, Reinaldo; Mirman, Clifford; Vohra, Promod
2010-09-15
Issues for adopting biodiesel fuel, instead of petrodiesel, to power railroad locomotives are engine performance and emissions, fuel infrastructure, and fuel cost. These are evaluated for B2 through B100 blends. Biodiesel's solvent action on fuel systems is addressed. With biodiesel, hydrocarbon, carbon monoxide, and particulate emissions are unchanged or reduced. Nitrogen oxides are elevated but it is believed that engine alterations can minimize these emissions. A Transportation Model, using data from a major railway, has demonstrated that refueling depots can be fully supplied with biodiesel at a pricing premium of 1% to 26%, depending on blend and geographical location.
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基于GIS的井下机车区域定位检测系统%The Regional Positioning Detection System based on GIS for Underground Locomotive
Institute of Scientific and Technical Information of China (English)
张阳
2012-01-01
介绍了一种基于GIS的井下机车区域定位检测系统,该系统可有效地改善目前井下机车的使用情况.系统主要包括机车检测器、检测分站和主站计算机3部分.机车检测器测量机车车速,超速报警并将机车的车速、车号和车皮等信息通过无线传输技术发送到检测分站；检测分站通过井下环网将接收到的数据上传到主站计算机；主站计算机根据检测分站上传来的数据,利用GIS软件MapX,以VB为开发平台,实时模拟井下机车运行状况.%A regional positioning detection system based on GIS for the underground locomotive is introduced, which could effectively improve the me of underground locomotive at present. The system mainly includes the locomotive detectors, the testing substations and the hast computer,Of which,the locomotive detector is used to measure speed and make alarm once the locomotive is over speed, and sends such information as speed, train number and carriage to the testing substation via wireless transmission technology. The testing substation then uploads the received data to the host PC through the underground ring network. According to the data, and by using the GIS software MapX and VB for development platform, the PC will realize real-time simulation for the underground locomotive operation condition.
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Makihara, Yukiko; Segal, Richard L; Wolpaw, Jonathan R; Thompson, Aiko K
2014-09-15
In normal animals, operant conditioning of the spinal stretch reflex or the H-reflex has lesser effects on synergist muscle reflexes. In rats and people with incomplete spinal cord injury (SCI), soleus H-reflex operant conditioning can improve locomotion. We studied in normal humans the impact of soleus H-reflex down-conditioning on medial (MG) and lateral gastrocnemius (LG) H-reflexes and on locomotion. Subjects completed 6 baseline and 30 conditioning sessions. During conditioning trials, the subject was encouraged to decrease soleus H-reflex size with the aid of visual feedback. Every sixth session, MG and LG H-reflexes were measured. Locomotion was assessed before and after conditioning. In successfully conditioned subjects, the soleus H-reflex decreased 27.2%. This was the sum of within-session (task dependent) adaptation (13.2%) and across-session (long term) change (14%). The MG H-reflex decreased 14.5%, due mainly to task-dependent adaptation (13.4%). The LG H-reflex showed no task-dependent adaptation or long-term change. No consistent changes were detected across subjects in locomotor H-reflexes, EMG activity, joint angles, or step symmetry. Thus, in normal humans, soleus H-reflex down-conditioning does not induce long-term changes in MG/LG H-reflexes and does not change locomotion. In these subjects, task-dependent adaptation of the soleus H-reflex is greater than it is in people with SCI, whereas long-term change is less. This difference from results in people with SCI is consistent with the fact that long-term change is beneficial in people with SCI, since it improves locomotion. In contrast, in normal subjects, long-term change is not beneficial and may necessitate compensatory plasticity to preserve satisfactory locomotion. Copyright © 2014 the American Physiological Society.
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Studies on adaptive responses in Chinese hamster cells
International Nuclear Information System (INIS)
Michelin, S.C.; Perez, M.R. Del; Dubner, D.; Gisone, P.A.
1997-01-01
For many years the possibility has been considered of low doses of radiation inducing adaptive responses in cells and organisms against the mutagenic effects of radiation. Currently, a number of experimental data appraise the existence of an adaptive response that is characterized by a decrease of radiation induced genetic damages. The understanding of the molecular mechanism involved in this phenomenon permits to estimate the effects and risks of low dose exposure. In this work, preliminary results of studies on the induction of adaptive response in cells subjected to different doses of ionizing radiation are presented
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Directory of Open Access Journals (Sweden)
Lara Bieler
2018-02-01
The functional relevance of the dorsal CST in locomotion of rats is not as prominent as compared to in humans and thus challenging the motor execution is mandatory to reliably investigate CST function. A detailed analysis of voluntary walking using the CatWalk XT is not adequate to detect deficits following dorsal CST lesion in rats.
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Intracellular proteins produced by mammalian cells in response to environmental stress
Goochee, Charles F.; Passini, Cheryl A.
1988-01-01
The nature of the response of mammalian cells to environmental stress is examined by reviewing results of studies where cultured mouse L cells and baby hamster kidney cells were exposed to heat shock and the synthesis of heat-shock proteins and stress-response proteins (including HSP70, HSC70, HSP90, ubiquitin, and GRP70) in stressed and unstressed cells was evaluated using 2D-PAGE. The intracellular roles of the individual stress response proteins are discussed together with the regulation of the stress response system.
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2010-10-01
... 49 Transportation 9 2010-10-01 2010-10-01 false Switch crews; controlling operations; yard and terminal clerical; locomotive fuel; electric power purchased/produced for motive power; operating switches... SERVICE FOR RAILROADS 1 Operating Expenses-Transportation § 1242.67 Switch crews; controlling operations...
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Jansen, S.E.M.; Toet, A.; Werkhoven, P.J.
2011-01-01
This study investigated how human locomotion through an obstacle environment is influenced by visual field limitation. Participants were asked to walk at a comfortable pace to a target location while avoiding multiple vertical objects. During this task, they wore goggles restricting their visual
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Responses of macaque ganglion cells to far violet lights
International Nuclear Information System (INIS)
De Monasterio, F.M.; Gouras, P.
1977-01-01
In a sample of 487 colour-opponent ganglion cells recorded in the central retina of the rhesus and cynomolgus monkeys, 9% of these neurones were found to have responses with the same sign at both ends of the visible spectrum mediated by red-sensitive cones and mid-spectral responses of opposite sign mediated by green-sensitive cones. Selective chromatic adaptation showed that the responses to far violet lights (400 to 420 nm) were due to input from red- and not blue-sensitive cones. These responses were enhanced by backgrounds depressing the sensitivity of blue- and green-sensitive cones and they were depressed by backgrounds depressing the sensitivity of red-sensitive cones; the sensitivity of these responses was yoked to that of responses to far red lights. The relative incidence of these ganglion cells was maximal at the foveal region and decreased towards the peripheral retina. The properties of these cells are consistent with some psychophysical observations of human vision at the short wave-lengths. (author)
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Collective cell migration during inflammatory response
Wu, Di; Stroka, Kimberly; Aranda-Espinoza, Helim
2012-02-01
Wound scratch healing assays of endothelial cell monolayers is a simple model to study collective cell migration as a function of biological signals. A signal of particular interest is the immune response, which after initial wounding in vivo causes the release of various inflammatory factors such as tumor necrosis alpha (TNF-α). TNF-α is an innate inflammatory cytokine that can induce cell growth, cell necrosis, and change cell morphology. We studied the effects of TNF-α on collective cell migration using the wound healing assays and measured several migration metrics, such as rate of scratch closure, velocities of leading edge and bulk cells, closure index, and velocity correlation functions between migrating cells. We observed that TNF-α alters all migratory metrics as a function of the size of the scratch and TNF-α content. The changes observed in migration correlate with actin reorganization upon TNF-α exposure.
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Material Compressing Test of the High Polymer Part Used in Draft Gear of Heavy Load Locomotive
Directory of Open Access Journals (Sweden)
Wei Yangang
2016-01-01
Full Text Available According to the actual load cases of heavy load locomotive, the material compressing tests of the high polymer parts used in the locomotive are researched. The relationship between stress and strain during the material compressing are acquired by means of comparing the many results of the material compressing tests under different test condition. The relationship between stress and strain during the material compressing is nonlinear in large range of strain, but the relationship is approximately linear in small range of strain. The material of the high polymer made in China and the material of the high polymer imported are compared through the tests. The results show that the compressing property of the material of the high polymer made in China and the material of the high polymer imported are almost same. The research offers the foundation to study the structure elasticity of the draft gear.
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Intestinal Epithelial Cells Modulate Antigen-Presenting Cell Responses to Bacterial DNA
Campeau, J. L.; Salim, S. Y.; Albert, E. J.; Hotte, N.
2012-01-01
Intestinal epithelial cells and antigen-presenting cells orchestrate mucosal innate immunity. This study investigated the role of bacterial DNA in modulating epithelial and bone marrow-derived antigen-presenting cells (BM-APCs) and subsequent T-lymphocyte responses. Murine MODE-K epithelial cells and BM-APCs were treated with DNA from either Bifidobacterium breve or Salmonella enterica serovar Dublin directly and under coculture conditions with CD4+ T cells. Apical stimulation of MODE-K cells with S. Dublin DNA enhanced secretion of cytokines from underlying BM-APCs and induced interleukin-17 (IL-17) and gamma interferon (IFN-γ) secretion from CD4+ T cells. Bacterial DNA isolated from either strain induced maturation and increased cytokine secretion from BM-APCs. Conditioned medium from S. Dublin-treated MODE-K cells elicited an increase in cytokine secretion similar to that seen for S. Dublin DNA. Treatment of conditioned medium from MODE-K cells with RNase and protease prevented the S. Dublin-induced increased cytokine secretion. Oral feeding of mice with B. breve DNA resulted in enhanced levels of colonic IL-10 and transforming growth factor β (TGFβ) compared with what was seen for mice treated with S. Dublin DNA. In contrast, feeding mice with S. Dublin DNA increased levels of colonic IL-17 and IL-12p70. T cells from S. Dublin DNA-treated mice secreted high levels of IL-12 and IFN-γ compared to controls and B. breve DNA-treated mice. These results demonstrate that intestinal epithelial cells are able to modulate subsequent antigen-presenting and T-cell responses to bacterial DNA with pathogenic but not commensal bacterial DNA inducing effector CD4+ T lymphocytes. PMID:22615241
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Grizzly bear (Ursus arctos horribilis) locomotion: gaits and ground reaction forces.
Shine, Catherine L; Penberthy, Skylar; Robbins, Charles T; Nelson, O Lynne; McGowan, Craig P
2015-10-01
Locomotion of plantigrade generalists has been relatively little studied compared with more specialised postures even though plantigrady is ancestral among quadrupeds. Bears (Ursidae) are a representative family for plantigrade carnivorans, they have the majority of the morphological characteristics identified for plantigrade species, and they have the full range of generalist behaviours. This study compared the locomotion of adult grizzly bears (Ursus arctos horribilis Linnaeus 1758), including stride parameters, gaits and analysis of three-dimensional ground reaction forces, with that of previously studied quadrupeds. At slow to moderate speeds, grizzly bears use walks, running walks and canters. Vertical ground reaction forces demonstrated the typical M-shaped curve for walks; however, this was significantly more pronounced in the hindlimb. The rate of force development was also significantly higher for the hindlimbs than for the forelimbs at all speeds. Mediolateral forces were significantly higher than would be expected for a large erect mammal, almost to the extent of a sprawling crocodilian. There may be morphological or energetic explanations for the use of the running walk rather than the trot. The high medial forces (produced from a lateral push by the animal) could be caused by frontal plane movement of the carpus and elbow by bears. Overall, while grizzly bears share some similarities with large cursorial species, their locomotor kinetics have unique characteristics. Additional studies are needed to determine whether these characters are a feature of all bears or plantigrade species. © 2015. Published by The Company of Biologists Ltd.
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Investigating locomotion of dairy cows by use of high speed cinematography.
Herlin, A H; Drevemo, S
1997-05-01
The longterm influence of management systems on the locomotion of 17 dairy cows was investigated by high speed cinematography (100 frames/s) and kinematic analysis. Angular patterns and hoof trajectories of the left fore- and hindlimbs are presented and statistics made of occurring minimum and maximum angles. At the recording, 3 cows had been kept in tie-stalls (TI) and 6 cows in cubicles (CI) for a consecutive time of about 2.5 years while 8 cows had been kept on grass for about 3 months. Four of the grazing cows had earlier been kept in cubicles (CG) and 4 in tie-stalls (TG) during earlier off grazing seasons together with TI and CI cows. The CI cows had a smaller maximum angle of the elbow joint compared to TI, TG and CG cows. The hock joint angle of the CI cows was less flexed during the stance phase than in TI and CG cows while the minimum angle during the swing phase was greater in the TI and CI cows compared to TG and CG cows. Pastured cows (TG and CG) had a less pronounced flexion of the fetlock joint angle during the stance compared to cows kept indoors (TI and CI). The results suggest that slatted floor and lack of exercise during summer grazing may affect locomotion. This is indicated by restrictions in the movements of the elbow and hock joints and in less fetlock joint flexion at full support.
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Schwartz, Andrea G; Long, Fanxin; Thomopoulos, Stavros
2015-01-01
Tendon attaches to bone across a specialized tissue called the enthesis. This tissue modulates the transfer of muscle forces between two materials, i.e. tendon and bone, with vastly different mechanical properties. The enthesis for many tendons consists of a mineralized graded fibrocartilage that develops postnatally, concurrent with epiphyseal mineralization. Although it is well described that the mineralization and development of functional maturity requires muscle loading, the biological factors that modulate enthesis development are poorly understood. By genetically demarcating cells expressing Gli1 in response to Hedgehog (Hh) signaling, we discovered a unique population of Hh-responsive cells in the developing murine enthesis that were distinct from tendon fibroblasts and epiphyseal chondrocytes. Lineage-tracing experiments revealed that the Gli1 lineage cells that originate in utero eventually populate the entire mature enthesis. Muscle paralysis increased the number of Hh-responsive cells in the enthesis, demonstrating that responsiveness to Hh is modulated in part by muscle loading. Ablation of the Hh-responsive cells during the first week of postnatal development resulted in a loss of mineralized fibrocartilage, with very little tissue remodeling 5 weeks after cell ablation. Conditional deletion of smoothened, a molecule necessary for responsiveness to Ihh, from the developing tendon and enthesis altered the differentiation of enthesis progenitor cells, resulting in significantly reduced fibrocartilage mineralization and decreased biomechanical function. Taken together, these results demonstrate that Hh signaling within developing enthesis fibrocartilage cells is required for enthesis formation. © 2015. Published by The Company of Biologists Ltd.
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Longuet, Sophie; Ferrel-Chapus, Carole; Oreve, Marie-Joelle; Chamot, Jean-Marc; Vernazza-Martin, Sylvie
2012-01-01
This article focuses on the impact of intentionality on goal directed locomotion in healthy and autistic children. Closely linked with emotions and motivation, it is directly connected with movement planning. Is planning only preserved when the goal of the action appears motivating for healthy and autistic children? Is movement programming similar…
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When Is Visual Information Used to Control Locomotion When Descending a Kerb?
Buckley, John G.; Timmis, Matthew A.; Scally, Andy J.; Elliott, David B.
2011-01-01
BACKGROUND: Descending kerbs during locomotion involves the regulation of appropriate foot placement before the kerb-edge and foot clearance over it. It also involves the modulation of gait output to ensure the body-mass is safely and smoothly lowered to the new level. Previous research has shown that vision is used in such adaptive gait tasks for feedforward planning, with vision from the lower visual field (lvf) used for online updating. The present study determined when lvf information is ...
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Directory of Open Access Journals (Sweden)
Akemi Shibuya
2015-06-01
Full Text Available Synchronized bipedal movements of the pelvic fins provide propulsion (punting during displacement on the substrate in batoids with benthic locomotion. In skates (Rajidae this mechanism is mainly generated by the crural cartilages. Although lacking these anatomical structures, some stingray species show modifications of their pelvic fins to aid in benthic locomotion. This study describes the use of the pelvic fins for locomotory performance and body re-orientation in the freshwater stingray Potamotrygon motoro (Müller & Henle, 1841 during foraging. Pelvic fin movements of juvenile individuals of P. motoro were recorded in ventral view by a high-speed camera at 250-500 fields/s-1. Potamotrygon motoro presented synchronous, alternating and unilateral movements of the pelvic fins, similar to those reported in skates. Synchronous movements were employed during straightforward motion for pushing the body off the substrate as well as for strike feeding, whereas unilateral movements were used to maneuver the body to the right or left during both locomotion and prey capture. Alternating movements of the pelvic fins are similar to bipedal movements in terrestrial and semi-aquatic tetrapods. The pelvic fins showed coordinated movements during feeding even when stationary, indicating that they have an important function in maintaining body posture (station holding during prey capture and manipulation. The use of pelvic fins during prey stalking may be advantageous because it results in less substrate disturbance when compared to movements generated by pectoral fin undulation. The range of pelvic fin movements indicates more complex control and coordination of the pelvic radial muscles.
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An Arabidopsis kinase cascade influences auxin-responsive cell expansion.
Enders, Tara A; Frick, Elizabeth M; Strader, Lucia C
2017-10-01
Mitogen-activated protein kinase (MPK) cascades are conserved mechanisms of signal transduction across eukaryotes. Despite the importance of MPK proteins in signaling events, specific roles for many Arabidopsis MPK proteins remain unknown. Multiple studies have suggested roles for MPK signaling in a variety of auxin-related processes. To identify MPK proteins with roles in auxin response, we screened mpk insertional alleles and identified mpk1-1 as a mutant that displays hypersensitivity in auxin-responsive cell expansion assays. Further, mutants defective in the upstream MAP kinase kinase MKK3 also display hypersensitivity in auxin-responsive cell expansion assays, suggesting that this MPK cascade affects auxin-influenced cell expansion. We found that MPK1 interacts with and phosphorylates ROP BINDING PROTEIN KINASE 1 (RBK1), a protein kinase that interacts with members of the Rho-like GTPases from Plants (ROP) small GTPase family. Similar to mpk1-1 and mkk3-1 mutants, rbk1 insertional mutants display auxin hypersensitivity, consistent with a possible role for RBK1 downstream of MPK1 in influencing auxin-responsive cell expansion. We found that RBK1 directly phosphorylates ROP4 and ROP6, supporting the possibility that RBK1 effects on auxin-responsive cell expansion are mediated through phosphorylation-dependent modulation of ROP activity. Our data suggest a MKK3 • MPK1 • RBK1 phosphorylation cascade that may provide a dynamic module for altering cell expansion. © 2017 The Authors The Plant Journal © 2017 John Wiley & Sons Ltd.
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International Nuclear Information System (INIS)
Cho, Kyung-Ah; Park, Minhwa; Kim, Yu-Hee; Woo, So-Youn
2017-01-01
Although mast cells are traditionally thought to function as effector cells in allergic responses, they have increasingly been recognized as important regulators of various immune responses. Mast cells mature locally; thus, tissue-specific influences are important for promoting mast cell accumulation and survival in the skin and the gastrointestinal tract. In this study, we determined the effects of keratinocytes on mast cell accumulation during Th17-mediated skin inflammation. We observed increases in dermal mast cells in imiquimod-induced psoriatic dermatitis in mice accompanied by the expression of epidermal stem cell factor (SCF), a critical mast cell growth factor. Similar to mouse epidermal keratinocytes, SCF was highly expressed in the human HaCaT keratinocyte cell line following stimulation with IL−17. Further, keratinocytes promoted mast cell proliferation following stimulation with IL−17 in vitro. However, the effects of keratinocytes on mast cells were significantly diminished in the presence of anti−CD117 (stem cell factor receptor) blocking antibodies. Taken together, our results revealed that the Th17-mediated inflammatory environment promotes mast cell accumulation through keratinocyte-derived SCF. - Highlights: • Psoriasis-like skin inflammation increase dermal mast cells. • Keratinocyte produce stem cell factor in psoriasis-like skin inflammation. • Keratinocyte promote mast cell proliferation by stem cell factor dependent manner
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Human dental pulp cells exhibit bone cell-like responsiveness to fluid shear stress.
Kraft, David Christian Evar; Bindslev, Dorth Arenholt; Melsen, Birte; Klein-Nulend, Jenneke
2011-02-01
For engineering bone tissue to restore, for example, maxillofacial defects, mechanosensitive cells are needed that are able to conduct bone cell-specific functions, such as bone remodelling. Mechanical loading affects local bone mass and architecture in vivo by initiating a cellular response via loading-induced flow of interstitial fluid. After surgical removal of ectopically impacted third molars, human dental pulp tissue is an easily accessible and interesting source of cells for mineralized tissue engineering. The aim of this study was to determine whether human dental pulp-derived cells (DPC) are responsive to mechanical loading by pulsating fluid flow (PFF) upon stimulation of mineralization in vitro. Human DPC were incubated with or without mineralization medium containing differentiation factors for 3 weeks. Cells were subjected to 1-h PFF (0.7 ± 0.3 Pa, 5 Hz) and the response was quantified by measuring nitric oxide (NO) and prostaglandin E₂ (PGE₂) production, and gene expression of cyclooxygenase (COX)-1 and COX-2. We found that DPC are intrinsically mechanosensitive and, like osteogenic cells, respond to PFF-induced fluid shear stress. PFF stimulated NO and PGE₂ production, and up-regulated COX-2 but not COX-1 gene expression. In DPC cultured under mineralizing conditions, the PFF-induced NO, but not PGE₂, production was significantly enhanced. These data suggest that human DPC, like osteogenic cells, acquire responsiveness to pulsating fluid shear stress in mineralizing conditions. Thus DPC might be able to perform bone-like functions during mineralized tissue remodeling in vivo, and therefore provide a promising new tool for mineralized tissue engineering to restore, for example, maxillofacial defects.
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International Nuclear Information System (INIS)
Huang, Ke-Jung; Huang, Chun-Kai; Lin, Pei-Chun
2014-01-01
We report on the development of a robot’s dynamic locomotion based on a template which fits the robot’s natural dynamics. The developed template is a low degree-of-freedom planar model for running with rolling contact, which we call rolling spring loaded inverted pendulum (R-SLIP). Originating from a reduced-order model of the RHex-style robot with compliant circular legs, the R-SLIP model also acts as the template for general dynamic running. The model has a torsional spring and a large circular arc as the distributed foot, so during locomotion it rolls on the ground with varied equivalent linear stiffness. This differs from the well-known spring loaded inverted pendulum (SLIP) model with fixed stiffness and ground contact points. Through dimensionless steps-to-fall and return map analysis, within a wide range of parameter spaces, the R-SLIP model is revealed to have self-stable gaits and a larger stability region than that of the SLIP model. The R-SLIP model is then embedded as the reduced-order ‘template’ in a more complex ‘anchor’, the RHex-style robot, via various mapping definitions between the template and the anchor. Experimental validation confirms that by merely deploying the stable running gaits of the R-SLIP model on the empirical robot with simple open-loop control strategy, the robot can easily initiate its dynamic running behaviors with a flight phase and can move with similar body state profiles to those of the model, in all five testing speeds. The robot, embedded with the SLIP model but performing walking locomotion, further confirms the importance of finding an adequate template of the robot for dynamic locomotion. (paper)
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Jee, Changhoon; Choi, Tae-Woo; Kalichamy, Karunambigai; Yee, Jong Zin; Song, Hyun-Ok; Ji, Yon Ju; Lee, Jungsoo; Lee, Jin Il; L'Etoile, Noelle D; Ahnn, Joohong; Lee, Sun-Kyung
2012-03-30
Calcineurin is a Ca(2+)/calmodulin-dependent protein phosphatase involved in calcium signaling pathways. In Caenorhabditis elegans, the loss of calcineurin activity causes pleiotropic defects including hyperadaptation of sensory neurons, hypersensation to thermal difference and hyper-egg-laying when worms are refed after starvation. In this study, we report on arrd-17 as calcineurin-interacting protein-1 (cnp-1), which is a novel molecular target of calcineurin. CNP-1 interacts with the catalytic domain of the C. elegans calcineurin A subunit, TAX-6, in a yeast two-hybrid assay and is dephosphorylated by TAX-6 in vitro. cnp-1 is expressed in ASK, ADL, ASH and ASJ sensory neurons as TAX-6. It acts downstream of tax-6 in regulation of locomotion and egg-laying after starvation, ASH sensory neuron adaptation and lysine chemotaxis, that is known to be mediated by ASK neurons. Altogether, our biochemical and genetic evidence indicates that CNP-1 is a direct target of calcineurin and required in stimulated egg-laying and locomotion after starvation, adaptation to hyperosmolarity and attraction to lysine, which is modulated by calcineurin. We suggest that the phosphorylation status of CNP-1 plays an important role in regulation of refed stimulating behaviors after starvation and attraction to amino acid, which provides valuable nutritious information. Copyright © 2012 Elsevier Ltd. All rights reserved.
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PKC activation induces inflammatory response and cell death in human bronchial epithelial cells.
Directory of Open Access Journals (Sweden)
Hyunhee Kim
Full Text Available A variety of airborne pathogens can induce inflammatory responses in airway epithelial cells, which is a crucial component of host defence. However, excessive inflammatory responses and chronic inflammation also contribute to different diseases of the respiratory system. We hypothesized that the activation of protein kinase C (PKC is one of the essential mechanisms of inflammatory response in airway epithelial cells. In the present study, we stimulated human bronchial lung epithelial (BEAS-2B cells with the phorbol ester Phorbol 12, 13-dibutyrate (PDBu, and examined gene expression profile using microarrays. Microarray analysis suggests that PKC activation induced dramatic changes in gene expression related to multiple cellular functions. The top two interaction networks generated from these changes were centered on NFκB and TNF-α, which are two commonly known pathways for cell death and inflammation. Subsequent tests confirmed the decrease in cell viability and an increase in the production of various cytokines. Interestingly, each of the increased cytokines was differentially regulated at mRNA and/or protein levels by different sub-classes of PKC isozymes. We conclude that pathological cell death and cytokine production in airway epithelial cells in various situations may be mediated through PKC related signaling pathways. These findings suggest that PKCs can be new targets for treatment of lung diseases.
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Caruso, M J; Reiss, D E; Caulfield, J I; Thomas, J L; Baker, A N; Cavigelli, S A; Kamens, H M
2018-04-01
Anxiety disorders and nicotine use are significant contributors to global morbidity and mortality as independent and comorbid diseases. Early-life stress, potentially via stress-induced hypothalamic-pituitary-adrenal axis (HPA) dysregulation, can exacerbate both. However, little is known about the factors that predispose individuals to the development of both anxiety disorders and nicotine use. Here, we examined the relationship between anxiety-like behaviors and nicotine responses following adolescent stress. Adolescent male and female BALB/cJ mice were exposed to either chronic variable social stress (CVSS) or control conditions. CVSS consisted of repeated cycles of social isolation and social reorganization. In adulthood, anxiety-like behavior and social avoidance were measured using the elevated plus-maze (EPM) and social approach-avoidance test, respectively. Nicotine responses were assessed with acute effects on body temperature, corticosterone production, locomotor activity, and voluntary oral nicotine consumption. Adolescent stress had sex-dependent effects on nicotine responses and exploratory behavior, but did not affect anxiety-like behavior or social avoidance in males or females. Adult CVSS males exhibited less exploratory behavior, as indicated by reduced exploratory locomotion in the EPM and social approach-avoidance test, compared to controls. Adolescent stress did not affect nicotine-induced hypothermia in either sex, but CVSS males exhibited augmented nicotine-induced locomotion during late adolescence and voluntarily consumed less nicotine during adulthood. Stress effects on male nicotine-induced locomotion were associated with individual differences in exploratory locomotion in the EPM and social approach-avoidance test. Relative to controls, adult CVSS males and females also exhibited reduced corticosterone levels at baseline and adult male CVSS mice exhibited increased corticosterone levels following an acute nicotine injection. Results
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2013-12-09
... of Production Activity, GE Transportation, (Locomotives, Off-Highway Vehicles and Motors/Engines), Lawrence Park and Grove City, Pennsylvania On July 18, 2013, GE Transportation submitted a notification of proposed production activity to the Foreign-Trade Zones (FTZ) Board for its facilities within Subzones 247A...
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Common Features of Regulatory T Cell Specialization During Th1 Responses
Directory of Open Access Journals (Sweden)
Katharina Littringer
2018-06-01
Full Text Available CD4+Foxp3+ Treg cells are essential for maintaining self-tolerance and preventing excessive immune responses. In the context of Th1 immune responses, co-expression of the Th1 transcription factor T-bet with Foxp3 is essential for Treg cells to control Th1 responses. T-bet-dependent expression of CXCR3 directs Treg cells to the site of inflammation. However, the suppressive mediators enabling effective control of Th1 responses at this site are unknown. In this study, we determined the signature of CXCR3+ Treg cells arising in Th1 settings and defined universal features of Treg cells in this context using multiple Th1-dominated infection models. Our analysis defined a set of Th1-specific co-inhibitory receptors and cytotoxic molecules that are specifically expressed in Treg cells during Th1 immune responses in mice and humans. Among these, we identified the novel co-inhibitory receptor CD85k as a functional predictor for Treg-mediated suppression specifically of Th1 responses, which could be explored therapeutically for selective immune suppression in autoimmunity.
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Sensory modulation of movement, posture and locomotion.
Saradjian, A H
2015-11-01
During voluntary movement, there exists a well known functional sensory attenuation of afferent inputs, which allows us to discriminate between information related to our own movements and those arising from the external environment. This attenuation or 'gating' prevents some signals from interfering with movement elaboration and production. However, there are situations in which certain task-relevant sensory inputs may not be gated. This review begins by identifying the prevalent findings in the literature with specific regard to the somatosensory modality, and reviews the many cases of classical sensory gating phenomenon accompanying voluntary movement and their neural basis. This review also focuses on the newer axes of research that demonstrate that task-specific sensory information may be disinhibited or even facilitated during engagement in voluntary actions. Finally, a particular emphasis will be placed on postural and/or locomotor tasks involving strong somatosensory demands, especially for the setting of the anticipatory postural adjustments observed prior the initiation of locomotion. Copyright © 2015 Elsevier Masson SAS. All rights reserved.
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Cerebellar contribution to feedforward control of locomotion.
Pisotta, Iolanda; Molinari, Marco
2014-01-01
The cerebellum is an important contributor to feedforward control mechanisms of the central nervous system, and sequencing-the process that allows spatial and temporal relationships between events to be recognized-has been implicated as the fundamental cerebellar mode of operation. By adopting such a mode and because cerebellar activity patterns are sensitive to a variety of sensorimotor-related tasks, the cerebellum is believed to support motor and cognitive functions that are encoded in the frontal and parietal lobes of the cerebral cortex. In this model, the cerebellum is hypothesized to make predictions about the consequences of a motor or cognitive command that originates from the cortex to prepare the entire system to cope with ongoing changes. In this framework, cerebellar predictive mechanisms for locomotion are addressed, focusing on sensorial and motoric sequencing. The hypothesis that sequence recognition is the mechanism by which the cerebellum functions in gait control is presented and discussed.
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Rein, Thomas R
2011-11-01
Phalanges are considered to be highly informative in the reconstruction of extinct primate locomotor behavior since these skeletal elements directly interact with the substrate during locomotion. Variation in shaft curvature and relative phalangeal length has been linked to differences in the degree of suspension and overall arboreal locomotor activities. Building on previous work, this study investigated these two skeletal characters in a comparative context to analyze function, while taking evolutionary relationships into account. This study examined the correspondence between proportions of suspension and overall substrate usage observed in 17 extant taxa and included angle of curvature and relative phalangeal length. Predictive models based on these traits are reported. Published proportions of different locomotor behaviors were regressed against each phalangeal measurement and a size proxy. The relationship between each behavior and skeletal trait was investigated using ordinary least-squares, phylogenetic generalized least-squares (pGLS), and two pGLS transformation methods to determine the model of best-fit. Phalangeal curvature and relative length had significant positive relationships with both suspension and overall arboreal locomotion. Cross-validation analyses demonstrated that relative length and curvature provide accurate predictions of relative suspensory behavior and substrate usage in a range of extant species when used together in predictive models. These regression equations provide a refined method to assess the amount of suspensory and overall arboreal locomotion characterizing species in the catarrhine fossil record. Copyright © 2011 Wiley-Liss, Inc.
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Rein, Thomas R; Harvati, Katerina; Harrison, Terry
2015-01-01
Uncovering links between skeletal morphology and locomotor behavior is an essential component of paleobiology because it allows researchers to infer the locomotor repertoire of extinct species based on preserved fossils. In this study, we explored ulnar shape in anthropoid primates using 3D geometric morphometrics to discover novel aspects of shape variation that correspond to observed differences in the relative amount of forelimb suspensory locomotion performed by species. The ultimate goal of this research was to construct an accurate predictive model that can be applied to infer the significance of these behaviors. We studied ulnar shape variation in extant species using principal component analysis. Species mainly clustered into phylogenetic groups along the first two principal components. Upon closer examination, the results showed that the position of species within each major clade corresponded closely with the proportion of forelimb suspensory locomotion that they have been observed to perform in nature. We used principal component regression to construct a predictive model for the proportion of these behaviors that would be expected to occur in the locomotor repertoire of anthropoid primates. We then applied this regression analysis to Pliopithecus vindobonensis, a stem catarrhine from the Miocene of central Europe, and found strong evidence that this species was adapted to perform a proportion of forelimb suspensory locomotion similar to that observed in the extant woolly monkey, Lagothrix lagothricha. Copyright © 2014 Elsevier Ltd. All rights reserved.
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Directory of Open Access Journals (Sweden)
Arun Kumar
Full Text Available The newly discovered Merkel Cell Polyomavirus (MCPyV resides in approximately 80% of Merkel cell carcinomas (MCC. Causal role of MCPyV for this rare and aggressive skin cancer is suggested by monoclonal integration and truncation of large T (LT viral antigen in MCC cells. The mutated MCPyV has recently been found in highly purified leukemic cells from patients with chronic lymphocytic leukemia (CLL, suggesting a pathogenic role also in CLL. About 50-80% of adults display MCPyV-specific antibodies. The humoral immunity does not protect against the development of MCC, as neutralizing MCPyV antibodies occur in higher levels among MCC patients than healthy controls. Impaired T-cell immunity has been linked with aggressive MCC behavior. Therefore, cellular immunity appears to be important in MCPyV infection surveillance. In order to elucidate the role of MCPyV-specific Th-cell immunity, peripheral blood mononuclear cells (PBMC of healthy adults were stimulated with MCPyV VP1 virus-like particles (VLPs, using human bocavirus (HBoV VLPs and Candida albicans antigen as positive controls. Proliferation, IFN-γ, IL-13 and IL-10 responses were examined in 15 MCPyV-seropositive and 15 seronegative volunteers. With the MCPyV antigen, significantly stronger Th-cell responses were found in MCPyV-seropositive than MCPyV-seronegative subjects, whereas with the control antigens, the responses were statistically similar. The most readily detectable cytokine was IFN-γ. The MCPyV antigen tended to induce stronger IFN-γ responses than HBoV VLP antigen. Taken together, MCPyV-specific Th-cells elicit vigorous IFN-γ responses. IFN-γ being a cytokine with major antiviral and tumor suppressing functions, Th-cells are suggested to be important mediators of MCPyV-specific immune surveillance.
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NaCl responsive taste cells in the mouse fungiform taste buds.
Yoshida, R; Horio, N; Murata, Y; Yasumatsu, K; Shigemura, N; Ninomiya, Y
2009-03-17
Previous studies have demonstrated that rodents' chorda tympani (CT) nerve fibers responding to NaCl can be classified according to their sensitivities to the epithelial sodium channel (ENaC) blocker amiloride into two groups: amiloride-sensitive (AS) and -insensitive (AI). The AS fibers were shown to respond specifically to NaCl, whereas AI fibers broadly respond to various electrolytes, including NaCl. These data suggest that salt taste transduction in taste cells may be composed of at least two different systems; AS and AI ones. To further address this issue, we investigated the responses to NaCl, KCl and HCl and the amiloride sensitivity of mouse fungiform papilla taste bud cells which are innervated by the CT nerve. Comparable with the CT data, the results indicated that 56 NaCl-responsive cells tested were classified into two groups; 25 cells ( approximately 44%) narrowly responded to NaCl and their NaCl response were inhibited by amiloride (AS cells), whereas the remaining 31 cells ( approximately 56%) responded not only to NaCl, but to KCl and/or HCl and showed no amiloride inhibition of NaCl responses (AI cells). Amiloride applied to the basolateral side of taste cells had no effect on NaCl responses in the AS and AI cells. Single cell reverse transcription-polymerase chain reaction (RT-PCR) experiments indicated that ENaC subunit mRNA was expressed in a subset of AS cells. These findings suggest that the mouse fungiform taste bud is composed of AS and AI cells that can transmit taste information differently to their corresponding types of CT fibers, and apical ENaCs may be involved in the NaCl responses of AS cells.
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A computational model of amoeboid cell swimming in unbounded medium and through obstacles
Campbell, Eric; Bagchi, Prosenjit
2017-11-01
Pseudopod-driven motility is commonly observed in eukaryotic cells. Pseudopodia are actin-rich protrusions of the cellular membrane which extend, bifurcate, and retract in cycles resulting in amoeboid locomotion. While actin-myosin interactions are responsible for pseudopod generation, cell deformability is crucial concerning pseudopod dynamics. Because pseudopodia are highly dynamic, cells are capable of deforming into complex shapes over time. Pseudopod-driven motility represents a multiscale and complex process, coupling cell deformation, protein biochemistry, and cytoplasmic and extracellular fluid motion. In this work, we present a 3D computational model of amoeboid cell swimming in an extracellular medium (ECM). The ECM is represented as a fluid medium with or without obstacles. The model integrates full cell deformation, a coarse-grain reaction-diffusion system for protein dynamics, and fluid interaction. Our model generates pseudopodia which bifurcate and retract, showing remarkable similarity to experimental observations. Influence of cell deformation, protein diffusivity and cytoplasmic viscosity on the swimming speed is analyzed in terms of altered pseudopod dynamics. Insights into the role of matrix porosity and obstacle size on cell motility are also provided. Funded by NSF CBET 1438255.
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Directory of Open Access Journals (Sweden)
Allison S Thomas
2017-09-01
Full Text Available HIV-specific CD8+ T-cell responses limit viral replication in untreated infection. After the initiation of antiretroviral therapy (ART, these responses decay and the infected cell population that remains is commonly considered to be invisible to T-cells. We hypothesized that HIV antigen recognition may persist in ART-treated individuals due to low-level or episodic protein expression. We posited that if persistent recognition were occurring it would be preferentially directed against the early HIV gene products Nef, Tat, and Rev as compared to late gene products, such as Gag, Pol, and Env, which have higher barriers to expression. Using a primary cell model of latency, we observed that a Nef-specific CD8+ T-cell clone exhibited low-level recognition of infected cells prior to reactivation and robust recognition shortly thereafter. A Gag-specific CD8+ T-cell clone failed to recognized infected cells under these conditions, corresponding with a lack of detectable Gag expression. We measured HIV-specific T-cell responses in 96 individuals who had been suppressed on ART for a median of 7 years, and observed a significant, direct correlation between cell-associated HIV DNA levels and magnitudes of IFN-γ-producing Nef/Tat/Rev-specific T-cell responses. This correlation was confirmed in an independent cohort (n = 18. Correlations were not detected between measures of HIV persistence and T-cell responses to other HIV antigens. The correlation with Nef/Tat/Rev-specific T-cells was attributable to Nef-specific responses, the breadth of which also correlated with HIV DNA levels. These results suggest that ongoing Nef expression in ART-treated individuals drives preferential maintenance and/or expansion of T-cells reactive to this protein, implying sensing of infected cells by the immune system. The direct correlation, however, suggests that recognition does not result in efficient elimination of infected cells. These results raise the possibility that
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Responses of fibroblasts and glial cells to nanostructured platinum surfaces
Energy Technology Data Exchange (ETDEWEB)
Pennisi, C P; Sevcencu, C; Yoshida, K [Center for Sensory-Motor Interaction (SMI), Aalborg University, Aalborg (Denmark); Dolatshahi-Pirouz, A; Foss, M; Larsen, A Nylandsted; Besenbacher, F [Interdisciplinary Nanoscience Center (iNANO), Aarhus University, Aarhus (Denmark); Hansen, J Lundsgaard [Department of Physics and Astronomy, Aarhus University, Aarhus (Denmark); Zachar, V, E-mail: cpennisi@hst.aau.d [Laboratory for Stem Cell Research, Aalborg University (Denmark)
2009-09-23
The chronic performance of implantable neural prostheses is affected by the growth of encapsulation tissue onto the stimulation electrodes. Encapsulation is associated with activation of connective tissue cells at the electrode's metallic contacts, usually made of platinum. Since surface nanotopography can modulate the cellular responses to materials, the aim of the present work was to evaluate the 'in vitro' responses of connective tissue cells to platinum strictly by modulating its surface nanoroughness. Using molecular beam epitaxy combined with sputtering, we produced platinum nanostructured substrates consisting of irregularly distributed nanopyramids and investigated their effect on the proliferation, cytoskeletal organization and cellular morphology of primary fibroblasts and transformed glial cells. Cells were cultured on these substrates and their responses to surface roughness were studied. After one day in culture, the fibroblasts were more elongated and their cytoskeleton less mature when cultured on rough substrates. This effect increased as the roughness of the surface increased and was associated with reduced cell proliferation throughout the observation period (4 days). Morphological changes also occurred in glial cells, but they were triggered by a different roughness scale and did not affect cellular proliferation. In conclusion, surface nanotopography modulates the responses of fibroblasts and glial cells to platinum, which may be an important factor in optimizing the tissue response to implanted neural electrodes.
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Directory of Open Access Journals (Sweden)
Po-Chen Shih
2010-01-01
Full Text Available We have designed and fabricated a novel chemotactic gradient Labchip for studying cell migration quantitatively. Owing to the great potential of garlic and its preparations in developing antiinflammatory drugs, the aim of the present study is to investigate the effect of garlic oil on the locomotion of a neutrophil-like cell by measuring the dynamic features of cell migration including migration direction, average migration speed, chemotactic index (CI, and motility index (MI with the newly designed Labchip. We found that garlic oil treatment lowered the values of CI and MI and reduced the average speed of cell migration from 13 to 8 μm/min. The results indicate that garlic oil is a potential inhibitor for neutrophil-like cell migration and chemotactic responsiveness. By comparing with the effects of nocodazole and cytochalasin B, we also suggest that the antiinflammatory activity exhibited by garlic oil was mainly through inhibiting the assembly-disassembly processes of the cytoskeleton.
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DEFF Research Database (Denmark)
Nilsson, Niels Christian; Serafin, Stefania; Nordahl, Rolf
2014-01-01
If Walking-in-place (WIP) techniques are to be considered a useful way of facilitating virtual locomotion, it is crucial that the user remains stationary with respect to the physical environment. However, it has recently been documented that WIP locmotion may lead to Unintended Positional Drift...
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Biological response of cancer cells to radiation treatment
Directory of Open Access Journals (Sweden)
Rajamanickam eBaskar
2014-11-01
Full Text Available Cancer is a class of diseases characterized by uncontrolled cell growth and has the ability to spread or metastasize throughout the body. In recent years, remarkable progress has been made towards the understanding of proposed hallmarks of cancer development, care and treatment modalities. Radiation therapy or radiotherapy is an important and integral component of cancer management, mostly conferring a survival benefit. Radiation therapy destroys cancer by depositing high-energy radiation on the cancer tissues. Over the years, radiation therapy has been driven by constant technological advances and approximately 50% of all patients with localized malignant tumors are treated with radiation at some point in the course of their disease. In radiation oncology, research and development in the last three decades has led to considerable improvement in our understanding of the differential responses of normal and cancer cells. The biological effectiveness of radiation depends on the linear energy transfer (LET, total dose, number of fractions and radiosensitivity of the targeted cells or tissues. Radiation can either directly or indirectly (by producing free radicals damages the genome of the cell. This has been challenged in recent years by a newly identified phenomenon known as radiation induced bystander effect (RIBE. In RIBE, the non-irradiated cells adjacent to or located far from the irradiated cells/tissues demonstrate similar responses to that of the directly irradiated cells. Understanding the cancer cell responses during the fractions or after the course of irradiation will lead to improvements in therapeutic efficacy and potentially, benefitting a significant proportion of cancer patients. In this review, the clinical implications of radiation induced direct and bystander effects on the cancer cell are discussed.
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Cell Wall Metabolism in Response to Abiotic Stress
Gall, Hyacinthe Le; Philippe, Florian; Domon, Jean-Marc; Gillet, Françoise; Pelloux, Jérôme; Rayon, Catherine
2015-01-01
This review focuses on the responses of the plant cell wall to several abiotic stresses including drought, flooding, heat, cold, salt, heavy metals, light, and air pollutants. The effects of stress on cell wall metabolism are discussed at the physiological (morphogenic), transcriptomic, proteomic and biochemical levels. The analysis of a large set of data shows that the plant response is highly complex. The overall effects of most abiotic stress are often dependent on the plant species, the genotype, the age of the plant, the timing of the stress application, and the intensity of this stress. This shows the difficulty of identifying a common pattern of stress response in cell wall architecture that could enable adaptation and/or resistance to abiotic stress. However, in most cases, two main mechanisms can be highlighted: (i) an increased level in xyloglucan endotransglucosylase/hydrolase (XTH) and expansin proteins, associated with an increase in the degree of rhamnogalacturonan I branching that maintains cell wall plasticity and (ii) an increased cell wall thickening by reinforcement of the secondary wall with hemicellulose and lignin deposition. Taken together, these results show the need to undertake large-scale analyses, using multidisciplinary approaches, to unravel the consequences of stress on the cell wall. This will help identify the key components that could be targeted to improve biomass production under stress conditions. PMID:27135320
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DEFF Research Database (Denmark)
Laursen, M. V.; Boelling, D.; Mark, Thomas
2009-01-01
was defined as absence of hock infection, swollen hock, and bruising. The potential indicators were locomotion and foot and leg conformation, represented by rear leg side view, rear leg rear view, foot angle, and apparent hock quality and bone structure. The study was conducted using records from 429......,877 Danish Holstein cows in first lactation. Binary health traits were divided into 3 subcategories: claw health, leg health, and absence of all claw and leg disorders. Genetic (r(g)) and phenotypic correlations were estimated using a bivariate linear sire model and REML. Estimated heritabilities were 0.......01 for all 3 combined claw and leg health traits (on the observed binary scale), 0.09 for locomotion, 0.14 for rear leg rear view, 0.19 for rear leg side view, 0.13 for foot angle, 0.22 for apparent hock quality, and 0.27 for apparent bone structure. Heritabilities were 0.06 and 0.01 for claw health and leg...
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Ito, Hiroshi; Nagano, Masatoshi; Suzuki, Hidenori; Murakoshi, Takayuki
2010-01-01
The anterior cingulate cortex (ACC) is involved in the pathophysiology of a variety of mental disorders, many of which are exacerbated by stress. There are few studies, however, of stress-induced modification of synaptic function in the ACC that is relevant to emotional behavior. We investigated the effects of chronic restraint stress (CRS) on behavior and synaptic function in layers II/III of the ACC in mice. The duration of field excitatory postsynaptic potentials (fEPSPs) was longer in CRS mice than in control mice. The frequency of miniature inhibitory postsynaptic currents (mIPSCs) recorded by whole-cell patch-clamping was reduced in CRS mice, while miniature excitatory postsynaptic currents (mEPSCs) remained unchanged. Paired-pulse ratios (PPRs) of the fEPSP and evoked EPSC were larger in CRS. There was no difference in NMDA component of evoked EPSCs between the groups. Both long-term potentiation (LTP) and long-term depression of fEPSP were larger in CRS mice than in control mice. The differences between the groups in fEPSP duration, PPRs and LTP level were not observed when the GABA(A) receptor was blocked by bicuculline. Compared to control mice, CRS mice exhibited hyper-locomotive activity in an open field test, while no difference was observed between the groups in anxiety-like behavior in a light/dark choice test. CRS mice displayed decreased freezing behavior in fear conditioning tests compared to control mice. These findings suggest that CRS facilitates synaptic plasticity in the ACC via increased excitability due to disinhibition of GABA(A) receptor signalling, which may underlie induction of behavioral hyper-locomotive activity after CRS. Copyright 2009 Elsevier Ltd. All rights reserved.
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Chakon, Ofir; Or, Yizhar
2017-08-01
Underactuated robotic locomotion systems are commonly represented by nonholonomic constraints where in mixed systems, these constraints are also combined with momentum evolution equations. Such systems have been analyzed in the literature by exploiting symmetries and utilizing advanced geometric methods. These works typically assume that the shape variables are directly controlled, and obtain the system's solutions only via numerical integration. In this work, we demonstrate utilization of the perturbation expansion method for analyzing a model example of mixed locomotion system—the twistcar toy vehicle, which is a variant of the well-studied roller-racer model. The system is investigated by assuming small-amplitude oscillatory inputs of either steering angle (kinematic) or steering torque (mechanical), and explicit expansions for the system's solutions under both types of actuation are obtained. These expressions enable analyzing the dependence of the system's dynamic behavior on the vehicle's structural parameters and actuation type. In particular, we study the reversal in direction of motion under steering angle oscillations about the unfolded configuration, as well as influence of the choice of actuation type on convergence properties of the motion. Some of the findings are demonstrated qualitatively by reporting preliminary motion experiments with a modular robotic prototype of the vehicle.
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A Dynamic Simulation of Musculoskeletal Function in the Mouse Hindlimb During Trotting Locomotion
Directory of Open Access Journals (Sweden)
James P. Charles
2018-05-01
Full Text Available Mice are often used as animal models of various human neuromuscular diseases, and analysis of these models often requires detailed gait analysis. However, little is known of the dynamics of the mouse musculoskeletal system during locomotion. In this study, we used computer optimization procedures to create a simulation of trotting in a mouse, using a previously developed mouse hindlimb musculoskeletal model in conjunction with new experimental data, allowing muscle forces, activation patterns, and levels of mechanical work to be estimated. Analyzing musculotendon unit (MTU mechanical work throughout the stride allowed a deeper understanding of their respective functions, with the rectus femoris MTU dominating the generation of positive and negative mechanical work during the swing and stance phases. This analysis also tested previous functional inferences of the mouse hindlimb made from anatomical data alone, such as the existence of a proximo-distal gradient of muscle function, thought to reflect adaptations for energy-efficient locomotion. The results do not strongly support the presence of this gradient within the mouse musculoskeletal system, particularly given relatively high negative net work output from the ankle plantarflexor MTUs, although more detailed simulations could test this further. This modeling analysis lays a foundation for future studies of the control of vertebrate movement through the development of neuromechanical simulations.
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mGluR5 ablation in cortical glutamatergic neurons increases novelty-induced locomotion.
Directory of Open Access Journals (Sweden)
Chris P Jew
Full Text Available The group I metabotropic glutamate receptor 5 (mGluR5 has been implicated in the pathology of various neurological disorders including schizophrenia, ADHD, and autism. mGluR5-dependent synaptic plasticity has been described at a variety of neural connections and its signaling has been implicated in several behaviors. These behaviors include locomotor reactivity to novel environment, sensorimotor gating, anxiety, and cognition. mGluR5 is expressed in glutamatergic neurons, inhibitory neurons, and glia in various brain regions. In this study, we show that deleting mGluR5 expression only in principal cortical neurons leads to defective cannabinoid receptor 1 (CB1R dependent synaptic plasticity in the prefrontal cortex. These cortical glutamatergic mGluR5 knockout mice exhibit increased novelty-induced locomotion, and their locomotion can be further enhanced by treatment with the psychostimulant methylphenidate. Despite a modest reduction in repetitive behaviors, cortical glutamatergic mGluR5 knockout mice are normal in sensorimotor gating, anxiety, motor balance/learning and fear conditioning behaviors. These results show that mGluR5 signaling in cortical glutamatergic neurons is required for precisely modulating locomotor reactivity to a novel environment but not for sensorimotor gating, anxiety, motor coordination, several forms of learning or social interactions.
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Antitumor Responses of Invariant Natural Killer T Cells
Directory of Open Access Journals (Sweden)
Jennie B. Altman
2015-01-01
Full Text Available Natural killer T (NKT cells are innate-like lymphocytes that were first described in the late 1980s. Since their initial description, numerous studies have collectively shed light on their development and effector function. These studies have highlighted the unique requirements for the activation of these lymphocytes and the functional responses that distinguish these cells from other effector lymphocyte populations such as conventional T cells and NK cells. This body of literature suggests that NKT cells play diverse nonredundant roles in a number of disease processes, including the initiation and propagation of airway hyperreactivity, protection against a variety of pathogens, development of autoimmunity, and mediation of allograft responses. In this review, however, we focus on the role of a specific lineage of NKT cells in antitumor immunity. Specifically, we describe the development of invariant NKT (iNKT cells and the factors that are critical for their acquisition of effector function. Next, we delineate the mechanisms by which iNKT cells influence and modulate the activity of other immune cells to directly or indirectly affect tumor growth. Finally, we review the successes and failures of clinical trials employing iNKT cell-based immunotherapies and explore the future prospects for the use of such strategies.
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International Nuclear Information System (INIS)
Macedo-Sousa, Joaquim A.; Gerhardt, Almut; Brett, Christopher M.A.; Nogueira, Antonio J.A.; Soares, Amadeu M.V.M.
2008-01-01
The drainage of abandoned mines leads to several ecological problems, particularly the acidification of surface freshwater systems and heavy metal contamination. In order to study the possibility of using the behavioural early warning responses of Portuguese indigenous benthic invertebrates to detect an acute short-term pulse of Acid Mine Drainage (AMD), experiments with the Multispecies Freshwater Biomonitor MFB TM were performed and locomotion and ventilation were measured as endpoints. AMD was collected from the 'Sao Domingos' mine (Southeast Portugal) and the following species were selected: Echinogammarus meridionalis (Pinkster, 1973), Hydropsyche pellucidula (Curtis, 1834) and Choroterpes picteti (Eaton, 1870). For simulating the pulsed exposure, AMD was added to river water where invertebrates were collected and pH was lowered until reaching 3.5. The effects of H + and heavy metals were discriminated using HCl positive controls. In addition to behaviour, mortality was registered. E. meridionalis was the most sensitive species in terms of mortality and behavioural endpoints, followed by C. picteti and H. pellucidula. E. meridionalis early warning responses consisted of increased locomotion with subsequent increase in ventilation, whereas for C. picteti only an increase in locomotion was observed. H. pellucidula showed no early warning responses. This work demonstrates the suitableness of using benthic invertebrates' behavioural early warning responses for detecting spikes of pollutants like AMD. - Behavioural responses of aquatic invertebrates may be used to detect spikes of Acid Mine Drainage