Coronal Plane Spine Twisting Composes Shape To Adjust the Energy Landscape for Grounded Reorientation

Despite substantial evidence for the crucial role played by an active backbone or spine in animal locomotion, its adoption in legged robots remains limited because the added mechanical complexity and resulting dynamical challenges pose daunting obstacles to characterizing even a partial range of potential performance benefits. This paper takes a next step toward such a characterization by exploring the quasistatic terrestrial self-righting mechanics of a model system with coronal plane spine twisting (CPST). Reduction from a full 3D kinematic model of CPST to a two parameter, two degree of freedom coronal plane representation of body shape affordance predicts a substantial benefit to ground righting by lowering the barrier between stable potential energy basins. The reduced model predicts the most advantageous twist angle for several cross-sectional geometries, reducing the required righting torque by up to an order of magnitude depending on constituent shapes. Experiments with a three actuated degree of freedom physical mechanism corroborate the kinematic model predictions using two different quasistatic reorientation maneuvers for both elliptical and rectangular shaped bodies with a range of eccentricities or aspect ratios. More speculative experiments make intuitive use of the kinematic model in a highly dynamic maneuver to suggest still greater benefits of CPST achievable by coordinating kinetic as well as potential energy, for example as in a future multi-appendage system interacting with a contact-rich 3D environment

Large Kinetic Asymmetry in the Metal-Insulator Transition Nucleated at Localized and Extended Defects

Superheating and supercooling effects are characteristic kinetic processes in first-order phase transitions, and asymmetry between them is widely observed. In materials where electronic and structural degrees of freedom are coupled, a wide, asymmetric hysteresis may occur in the transition between electronic phases. Structural defects are known to seed heterogeneous nucleation of the phase transition, hence reduce the degree of superheating and supercooling. Here we show that in the metal-insulator transition of single-crystal VO 2, a large kinetic asymmetry arises from the distinct spatial extension and distribution of two basic types of crystal defects: point defects and twin walls. Nanometer-thick twin walls are constantly consumed but regenerated during the transition to the metal phase, serving as dynamical heterogeneous nucleation seeds and eliminating superheating. On the other hand, the transition back to the insulator phase relies on nucleation at point defects because twinning is structurally forbidden in the metal phase, leading to a large supercooling. By controlling the formation, location, and extinction of these defects, the kinetics of the phase transition might be externally modulated, offering possible routes toward unique memory and logic device technologies

Molecular diagnosis of Shigella, Salmonella and Campylobacter by multiplex Real-time PCR in stool culture samples in Ouagadougou (Burkina Faso)

ABSTRACT:Background: Bacteriological diagnosis of Campylobacter spp, Salmonella spp and Shigella spp could be necessary in the case of infectious gastroenteritis syndrome.The objective of this study was to diagnose concomitantly the three enteropathogenic bacteria by multiplex Real-Time PCR in stool culture samples in Ouagadougou (Burkina Faso).Materials and Methods: The study was conducted from February 5th to March 9th, 2013. Two hundred stool samples were received during the study period. The bacteria were identified by bacterial culture following by multiplex Real-Time PCR.Results: Shigella spp and Campylobacter spp were sought by culture in all 200 samples. Enteropathogenic E. coli was sought only in 37 samples from all children under 2 years old. The bacterial culture was positive in 12 stool samples. Shigella spp and Salmonella spp. were isolated respectively in 5 (2.5%) and 3 samples (1.5%). Enteropathogenic E. coli was isolated in 10.8% (4/37) of the samples tested.The multiplex real-time PCR identified bacteria in 20 patients, including 17 cases of Shigella spp., 1 case of Salmonella spp. and 2 cases of Campylobacter spp.Conclusions: This study has highlighted the low frequency of 3 sought bacterial genera in stool samples. It has also demonstrated a significant difference between the culture and the multiplex Real-Time PCR method in the diagnosis of Shigella

Understanding Silicate Deposit Variability and its Implications for Evaluating TBCs and EBCs

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Impact of Anharmonicity on the Vibrational Entropy and Specific Heat of UO₂

The impact of anharmonicity on the vibrational entropy and heat capacity of UO2 has been investigated from 10 to 1200 K using inelastic neutron-scattering measurements of the phonon density of states (PDOS). Small changes in the PDOS are observed from 10 to 295 K, with more noticeable changes appearing in the 750- and 1200-K data. The specific heat determined from the PDOS measurements is in agreement with macroscopic specific heat measurements, and the overall impact of nondilation anharmonicity on the specific heat has been shown to be less than 2%. An analysis of the phonon measurements shows that the softening of acoustic phonons with temperature is consistent with the quasiharmonic approximation. The optical phonons deviate from the quasiharmonic prediction, with the low-energy optical phonons between approximately 20 and 50 meV softening more than expected, while the higher-energy optical phonons between approximately 50 and 80 meV have no appreciable softening over the temperature range measured. The observation of a small anharmonic specific heat contribution has been shown to be the result of relatively large energy-dependent anharmonic effects which have opposite sign, leading to a total contribution near zero

Reduction of the Ordered Magnetic Moment and its Relationship to Kondo Coherence in Ce₁₋ₓLaₓCu₂Ge₂

The microscopic details of the suppression of antiferromagnetic order in the Kondo-lattice series Ce1-xLaxCu2Ge2 due to nonmagnetic dilution by La are revealed through neutron diffraction results for x = 0.20, 0.40, 0.75, and 0.85. Magnetic Bragg peaks are found for 0.20 ≤ x ≤ 0.75, and both the Néel temperature TN and the ordered magnetic moment per Ce μ linearly decrease with increasing x. The reduction in μ points to strong hybridization of the increasingly diluted Ce 4f electrons, and we find a remarkable quadratic dependence of μ on the Kondo-coherence temperature. We discuss our results in terms of local-moment- versus itinerant-type magnetism and mean-field theory and show that Ce1-xLaxCu2Ge2 provides an exceptional opportunity to quantitatively study the multiple magnetic interactions in a Kondo lattice

Comparison of the Therapeutic Effects of Human and Mouse Adipose-Derived Stem Cells in a Murine Model of Lipopolysaccharide-Induced Acute Lung Injury

Introduction. Adipose-derived stem cells (ASCs) have emerged as important regulators of inflammatory/immune responses in vitro and in vivo and represent attractive candidates for cell-based therapies for diseases that involve excessive inflammation. Acute lung injury (ALI) is an inflammatory condition for which treatment is mainly supportive due to lack of effective therapies. In this study, the therapeutic effects of ASC-based therapy were assessed in vivo by comparison of the anti-inflammatory properties of both human and murine ASCs in a mouse model of lipopolysaccharide (LPS)-induced ALI. Methods. Human ASCs (hASCs) or mouse ASCs (mASCs) were delivered to C57Bl/6 mice (7.5 x 105 total cells/mouse) by oropharyngeal aspiration (OA) four hours after the animals were challenged with lipopolysaccharide (15 mg/kg). Mice were sacrificed 24 and 72 hours after LPS exposure, and lung histology examined for evaluation of inflammation and injury. Bronchoalveolar lavage fluid (BALF) was analyzed to determine total and differential cell counts, total protein and albumin concentrations, and myeloperoxidase (MPO) activity. Cytokine expression in the injured lungs was measured at the steady-state mRNA levels and protein levels for assessment of the degree of lung inflammation. Results: Both human and mouse ASC treatments provided protective anti-inflammatory responses. There were decreased levels of leukocyte (for example neutrophil) migration into the alveoli, total protein and albumin concentrations in BALF, and MPO activity after the induction of ALI following both therapies. Additionally, cell therapy with both cell types effectively suppressed the expression of proinflammatory cytokines and increased the anti-inflammatory cytokine interleukin 10 (IL-10). Overall, the syngeneic mASC therapy had a more potent therapeutic effect than the xenogeneic hASC therapy in this model. Conclusions: Treatment with hASCs or mASCs significantly attenuated LPS-induced acute lung injury in mice. These results suggest a potential benefit for using an ASC-based therapy to treat clinical ALI and may possibly prevent the development of acute respiratory distress syndrome (ARDS)

Runs of homozygosity in killer whale genomes provide a global record of demographic histories

Runs of homozygosity (ROH) occur when offspring inherit haplotypes that are identical by descent from each parent. Length distributions of ROH are informative about population history; specifically, the probability of inbreeding mediated by mating system and/or population demography. Here, we investigated whether variation in killer whale (Orcinus orca) demographic history is reflected in genome-wide heterozygosity and ROH length distributions, using a global data set of 26 genomes representative of geographic and ecotypic variation in this species, and two F1 admixed individuals with Pacific-Atlantic parentage. We first reconstructed demographic history for each population as changes in effective population size through time using the pairwise sequential Markovian coalescent (PSMC) method. We found a subset of populations declined in effective population size during the Late Pleistocene, while others had more stable demography. Genomes inferred to have undergone ancestral declines in effective population size, were autozygous at hundreds of short ROH (\u3c1 \u3eMb), reflecting high background relatedness due to coalescence of haplotypes deep within the pedigree. In contrast, longer and therefore younger ROH (\u3e1.5 Mb) were found in low latitude populations, and populations of known conservation concern. These include a Scottish killer whale, for which 37.8% of the autosomes were comprised of ROH \u3e1.5 Mb in length. The fate of this population, in which only two adult males have been sighted in the past five years, and zero fecundity over the last two decades, may be inextricably linked to its demographic history and consequential inbreeding depression