Advances in the inspection of unpiggable pipelines

The field of in-pipe robotics covers a vast and varied number of approaches to the inspection of pipelines with robots specialising in pipes ranging anywhere from 10 mm to 1200 mm in diameter. Many of these developed systems focus on overcoming in-pipe obstacles such as T-sections and elbows, as a result important aspects of exploration are treated as sub-systems, namely shape adaptability. One of the most prevalent methods of hybridised locomotion today is wall-pressing; generating traction using the encompassing pipe walls. A review of wall-pressing systems has been performed, covering the different approaches taken since their introduction. The advantages and disadvantages of these systems is discussed as well as their effectiveness in the inspection of networks with highly varying pipe diameters. When compared to unconventional in-pipe robotic techniques, traditional full-bore wall-pressing robots were found to be at a disadvantage

Hybrid Position and Orientation Tracking for a Passive Rehabilitation Table-Top Robot

This paper presents a real time hybrid 2D position and orientation tracking system developed for an upper limb rehabilitation robot. Designed to work on a table-top, the robot is to enable home-based upper-limb rehabilitative exercise for stroke patients. Estimates of the robot's position are computed by fusing data from two tracking systems, each utilizing a different sensor type: laser optical sensors and a webcam. Two laser optical sensors are mounted on the underside of the robot and track the relative motion of the robot with respect to the surface on which it is placed. The webcam is positioned directly above the workspace, mounted on a fixed stand, and tracks the robot's position with respect to a fixed coordinate system. The optical sensors sample the position data at a higher frequency than the webcam, and a position and orientation fusion scheme is proposed to fuse the data from the two tracking systems. The proposed fusion scheme is validated through an experimental set-up whereby the rehabilitation robot is moved by a humanoid robotic arm replicating previously recorded movements of a stroke patient. The results prove that the presented hybrid position tracking system can track the position and orientation with greater accuracy than the webcam or optical sensors alone. The results also confirm that the developed system is capable of tracking recovery trends during rehabilitation therapy

Innovative behaviour: how much transformational leadership do you need?

Studies on the effects of transformational leadership on employee innovative behaviour have yielded mixed results. The authors argue that one possible explanation for these mixed findings is that researchers have assumed a linear relationship between these constructs. In contrast, they suggest that the relationship between transformational leadership and innovative behaviour is non-linear. Specifically, the authors argue that the positive effects of transformational leadership on innovative behaviour will be stronger at low and high levels of transformational leadership. Moreover, they examine whether the relationship between transformational leadership and innovative behaviour is mediated by knowledge sharing within and between teams. The authors undertake a constructive replication by testing these hypothesized relationships in two studies: (1) a multi-actor team-level study conducted in the USA, and (2) a longitudinal employee-level study of teachers in the Netherlands. Results of both studies reveal that knowledge sharing mediates the relationship between transformational leadership and innovative behaviour, and that the indirect relationship is curvilinear. The authors link these findings to leader substitution theory, proposing that employees turn to their peers and other parties when there is an absence of effective leadership

Case Study of Patients Participating in a Randomised Controlled Trial of Upper-Limb Robotic Rehabilitation in Acute Stroke Services

This paper presents some findings from a randomised controlled trial in patients with upper-limb weakness in acute stroke services within the UK's National Health Service. Three patients were selected from the robot arm of the trial; one who exhibited a large increase in Fugl-Meyer score (change > 30); one who exhibited a moderate change (10 <; change <; 20) and a subject who demonstrated no change between baseline and follow-up. The results from robot assistance level and target achievement over the course of the treatment are presented for the three patients, demonstrating the system's ability to automatically alter the assistance level as patients progress

Conformational flexibility within the nascent polypeptide–associated complex enables its interactions with structurally diverse client proteins

As newly synthesized polypeptides emerge from the ribosome, it is crucial that they fold correctly. To prevent premature aggregation, nascent chains interact with chaperones that facilitate folding or prevent misfolding until protein synthesis is complete. Nascent polypeptide–associated complex (NAC) is a ribosome-associated chaperone important for protein homeostasis. However, how NAC binds its substrates remains unclear. Using native electrospray ionization MS (ESI MS), limited proteolysis, NMR and cross-linking, we analysed the conformational properties of NAC from Caenorhabditis elegans and studied its ability to bind proteins in different conformational states. Our results revealed that NAC adopts an array of compact and expanded conformations and binds weakly to client proteins that are unfolded, folded, or intrinsically disordered, suggestive of broad substrate compatibility. Of note, we found that this weak binding retards aggregation of the intrinsically disordered protein α-synuclein both in vitro and in vivo. These findings provide critical insights into the structure and function of NAC. Specifically, they reveal the ability of NAC to exploit its conformational plasticity to bind a repertoire of substrates having unrelated sequences and structures independently of actively translating ribosomes

Support induced charge transfer effects on electrochemical characteristics of Pt nanoparticle electrocatalysts

The electrokinetic properties of Pt nanoparticles supported on Carbon (Pt/C) and Boron Carbide-Graphite composite (Pt/BC) are compared over a wide potential range. The influence of the support on the electronic state of Pt was investigated via in-situ X-ray Absorption Spectroscopy. Pt d-band filling, determined from XANES white line analysis, was lower and nearly constant between 0.4 and 0.95V vs. RHE for Pt/BC, indicating more positively charged particles in the double layer region and a delay in the onset of oxide formation by about 0.2V compared to the Pt/C catalyst, which showed a marked increase in d-band vacancies above 0.8V vs. RHE. Moreover, δμ analysis of the XANES data indicated a lack of sub-surface oxygen for the Pt/BC catalyst compared to the Pt/C catalyst above 0.9V vs. RHE. Additional anion adsorption on the Pt/BC in the double layer region, detected by CO displacement, was also confirmed by XANES analysis of the d-band occupancy. The H 2 oxidation activities of electrodes with low catalyst loadings were assessed under high mass transport conditions using the floating electrode methodology. The metal-support interaction between the Pt and BC support improved the maximum hydrogen oxidation current density by 1.4 times when compared to Pt/C

Miniature Magnetic Robots For In-Pipe Locomotion

Inspection of both small and large diameter bore pipelines for pipe integrity and defect identification with a single system has previously been impractical; especially using wall-press locomotion methods with low adaptive range. A miniature magnetic wallclimbing robot has been developed as a robotic solution for the inspection of 50mm bore diameter pipelines which can scale in-pipe geometry obstacles to access larger connected pipelines. Using magnetic arrays directed through steel flux plates within the wheels, the robot uses magnetic forces to adhere to the pipe. The system is 3D printed and includes soft printed material rubber wheels. The robot prototype is wirelessly driven, controlled remotely through serial Bluetooth communication radio at 2.4 GHz rated up to 100m. The robot&rsquo;s unique compact geometry and magnetic design allows it to scale concave rightangle wall cases in just a 50mm diameter bore. By entering pipe networks through these small existing access points the robot removes the need for expensive drilling procedures required to fit launch vessels

Topological dissection of the membrane transport protein Mhp1 derived from cysteine accessibility and mass spectrometry

Cys accessibility and quantitative intact mass spectrometry (MS) analyses have been devised to study the topological transitions of Mhp1, the membrane protein for sodium-linked transport of hydantoins from Microbacterium liquefaciens. Mhp1 has been crystallised in three forms (outward-facing open, outward-facing occluded with substrate bound, and inward-facing open). We show that one natural cysteine residue, Cys327, out of three, has an enhanced solvent accessibility in the inward-facing (relative to the outward-facing) form. Reaction of the purified protein, in detergent, with the thiol-reactive N-ethylmalemide (NEM), results in modification of Cys327, suggesting that Mhp1 adopts predominantly inward-facing conformations. Addition of either sodium ions or the substrate 5-benzyl-L-hydantoin (L-BH) does not shift this conformational equilibrium, but, systematic co-addition of the two results in an attenuation of labelling, indicating a shift toward outward-facing conformations that can be interpreted using conventional enzyme kinetic analyses. Such measurements can afford the Km for each ligand as well as the stoichiometry of ion-substrate coupled conformational changes. Mutations that perturb the substrate binding site either result in the protein being unable to adopt outward-facing conformations or in a global destabilisation of structure. The methodology combines covalent labeling, mass spectrometry and kinetic analyses in a straightforward workflow applicable to a range of systems, enabling the interrogation of changes in a protein’s conformation required for function at varied concentrations of substrates, and the consequences of mutations on these conformational transitions