Mobile climbing robot with elastic energy accumulators

Запропонований метод підвищення енергетичної ефективності роботів вертикального переміщення за рахунок накопичення потенційної енергії пружними акумуляторами. Розглянута конструкція патентованого типу педипулятора - нового крокуючого механізму, а також спосіб інтеграції модулів руху й утримання робота на поверхні переміщення. Виконаний синтез аналітичних залежностей і наведені результати моделювання динамічних навантаженьThis paper presents a novel method of improving energy efficiency of climbing robot by implementing accumulation of motion energy and its further recycling. Patented construction and functional scheme of pedipulator - conceptual walking mechanism are provided as well as a method to integrate movement and surface attachment modules of the robot. Calculations of dynamic loads are provided followed by results of simulations that demonstrate effective approach implementation by changing kinematic or constructional parameters instead of dynamic.Предложен метод повышения энергетической эффективности роботов вертикального перемещения за счет накопления потенциальной энергии пружинными аккумуляторами. Рассмотрена конструкция патентованного типа педипулятора - нового шагающего механизма, а также способ интеграции модулей движения и удержания робота на поверхности перемещения. Выполнен синтез аналитических зависимостей и приведены результаты моделирования динамических нагрузок

Experimental Studies on the Reactive Thrust of the Mobile Robot of Arbitrary Orientation

The problem of creating mobile robots of arbitrary orientation in the technological space is to ensure reliable retention of robots on the surface of any orientation. Therefore, well-known experimental studies are mainly devoted to the creation of systems for coupling the robot to the surface along which it moves. The purpose of this study is to create a device for compensating the gravitational load of a mobile robot. The article contains the results of experimental testing of a fundamentally new approach to counteract the gravitational load of a mobile robot, namely, the expediency of equipping the robot with a source of reactive thrust of a non-chemical origin. A pneumatic generator of aerodynamic lift is proposed as such a source. Such a force partially compensates or completely overcomes the gravitational load, while not allowing the transformation of a mobile robot into an aircraft. The specified condition is necessary to perform contact power technological operations in the maintenance of various industrial facilities. In other words, the thrust force should not exceed the adhesion forces of the mobile robot to the displacement surface. As a research method, a full factorial experiment of the operation of a jet thrust generator was used, which is a new way to increase the reliability of holding the robot on an arbitrary surface. The article describes the methodology and description of the full factorial experiment with varying independent factors at two extreme levels. As a result, an experimental solution to the problem of finding the quasi-optimal values of the aerodynamic lifting force depending on the parameters of the jet thrust generator is obtained. As a result, the combination of a new robot design with the results of experimental studies confirms the feasibility of using a pneumatic jet thrust generator as a means of increasing the reliability of holding mobile robots on an arbitrary orientation surface in the technological space

Identification of CDC42 Effectors Operating in FGD1-Dependent Trafficking at the Golgi

Loss of function mutations in the FGD1 gene cause a rare X-linked disease, faciogenital dysplasia (FGDY, also known as Aarskog-Skott syndrome), which is associated with bone and urogenital abnormalities. The FGD1 gene encodes à CDC42-specific guanine nucleotide exchange factor. The mutations are frequently located in the DH module of FGD1 preventing its transformation to the active form. We previously reported that Golgi-associated FGD1 regulates post-Golgi transport of some conventional and bone-specific proteins in a CDC42-dependent manner. However, the downstream targets of FGD1/CDC42 signaling that operate to support transport from the Golgi remain elusive. Here, we demonstrate that Golgi-localized CDC42 effectors might be involved in FGD1-mediated post-Golgi transport, probably through coordination of Golgi membrane and cytoskeleton dynamics. Overexpression of effector-specific CDC42 mutants (exhibiting preferential affinities for PAK1, IQGAP1, N-WASP, or PAR6) only partially rescue membrane trafficking in FGD1-deficient cells, indicating that the orchestrated activities of several downstream targets of CDC42 are required to support FGD1-mediated export from the Golgi. Our findings provide new insights into understanding the molecular mechanisms behind FGD1/CDC42-dependent transport events and uncover new targets whose potential might be explored for correction of membrane trafficking in FGDY

Piperazine-1,4-diium bis­[tetra­chlorido­aurate(III)] dihydrate

In the title compound, (C4H12N2)[AuCl4]2·2H2O, the AuIII atom has a square-planar geometry. The piperazinium dication lies on an inversion centre and adopts a typical chair conformation. In the crystal, a combination of N—H⋯O, N—H⋯Cl and O—H⋯Cl hydrogen bonds results in the formation of a three-dimensional network

Study on numerical analysis of dynamic parameters of mobile walking robot

A dynamic model of a walking robot is proposed for moving along surfaces of different topologies and orientations to the horizon. The principal difference between walking robot mechanisms is that they are made in the form of flexible pedipulators. Actually the pedipulators are a set of spherical rings with a hydraulic or pneumatic drive. The patented design (Patent UA No 117065, publ. 2018.06.11) of the robot's feet is anthropomorphic and allows the robot to work in the angular coordinate system inherent in the human walking machine. The proposed mathematical model allows us to calculate the dynamic parameters (forces and moments) and compare these parameters with the allowable technological load that a walking robot can perform without losing adhesion with the displacement surface

Anthropomorphic walking robot: Design and simulation

The current stage of development of robotic systems is characterized by the use of anthropomorphic robot designs, the functions of which are as close as possible to human capabilities. This trend is explained by the need to give robots universal capabilities when performing various technological operations. The article proposes a fundamentally new design of a walking robot and describes a model of its functioning. This design allows the robot to move in an angular coordinate system, which is typical for humans. The main motivation for creating such a robot is to reduce the number of drives for the kinematic chain of the walking mechanism. The article presents the results of mathematical modeling and recommendations for the design of anthropomorphic walking mechanisms. The engineering formulas and diagrams presented in the article for calculating force loads make it possible to create various modifications of walking robots that have the property of adapting to an arbitrary surface topology for moving a mobile robot. The economic effect is achieved by reducing the number of electric motors for the robot's leg joints and, consequently, by reducing the total cost of the walking robot

Actin remodeling by ADF/cofilin is required for cargo sorting at the trans-Golgi network

Sorting of both soluble and integral membrane proteins is disrupted by loss of ADF/cofilin, suggesting that actin severing controls expansion of a sorting domain within the TGN

Azimuthal anisotropy of charged jet production in root s(NN)=2.76 TeV Pb-Pb collisions

We present measurements of the azimuthal dependence of charged jet production in central and semi-central root s(NN) = 2.76 TeV Pb-Pb collisions with respect to the second harmonic event plane, quantified as nu(ch)(2) (jet). Jet finding is performed employing the anti-k(T) algorithm with a resolution parameter R = 0.2 using charged tracks from the ALICE tracking system. The contribution of the azimuthal anisotropy of the underlying event is taken into account event-by-event. The remaining (statistical) region-to-region fluctuations are removed on an ensemble basis by unfolding the jet spectra for different event plane orientations independently. Significant non-zero nu(ch)(2) (jet) is observed in semi-central collisions (30-50% centrality) for 20 <p(T)(ch) (jet) <90 GeV/c. The azimuthal dependence of the charged jet production is similar to the dependence observed for jets comprising both charged and neutral fragments, and compatible with measurements of the nu(2) of single charged particles at high p(T). Good agreement between the data and predictions from JEWEL, an event generator simulating parton shower evolution in the presence of a dense QCD medium, is found in semi-central collisions. (C) 2015 CERN for the benefit of the ALICE Collaboration. Published by Elsevier B.V. This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/).Peer reviewe

Production of He-4 and (4) in Pb-Pb collisions at root(NN)-N-S=2.76 TeV at the LHC

Results on the production of He-4 and (4) nuclei in Pb-Pb collisions at root(NN)-N-S = 2.76 TeV in the rapidity range vertical bar y vertical bar <1, using the ALICE detector, are presented in this paper. The rapidity densities corresponding to 0-10% central events are found to be dN/dy4(He) = (0.8 +/- 0.4 (stat) +/- 0.3 (syst)) x 10(-6) and dN/dy4 = (1.1 +/- 0.4 (stat) +/- 0.2 (syst)) x 10(-6), respectively. This is in agreement with the statistical thermal model expectation assuming the same chemical freeze-out temperature (T-chem = 156 MeV) as for light hadrons. The measured ratio of (4)/He-4 is 1.4 +/- 0.8 (stat) +/- 0.5 (syst). (C) 2018 Published by Elsevier B.V.Peer reviewe

Forward-central two-particle correlations in p-Pb collisions at root s(NN)=5.02 TeV

Two-particle angular correlations between trigger particles in the forward pseudorapidity range (2.5 2GeV/c. (C) 2015 CERN for the benefit of the ALICE Collaboration. Published by Elsevier B. V.Peer reviewe