Chaotic exploration and learning of locomotion behaviours

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

Phenomenological Impacts of the CP-odd Rephase-Invariant Phase of the Chargino Mass Matrix in the Production of Light Chargino-Pair in e+e−e^+e^- Collisions

One CP--odd rephase-invariant phase appears in the chargino mass matrix in the minimal Supersymmetric Standard Model. We investigate in detail the phenomenological impacts of the CP-odd complex phase in the production of light charginos in $e^+e^-$ annihilation. The values of the chargino masses and the mixing angles, determining the size of the wino and higgsino components in the chargino wave functions, are so sensitive to the CP-odd phase that the constraints on the supersymmetric parameters based on the conventional assumptions for the parameters are recommended to be re-evaluated including the CP-odd phase.Comment: 9 pages, latex with 3 eps figur

Retraction notice: Influence of compressing pressure on macro void formation carbon monolith for methane adsorption

RETRACTION NOTICEOn 21rd February 2019, the Editorial Board of the Mongolian Journal of Chemistry decided to retract this article entitled "Influence of compressing pressure on macro void formation of carbon monolith for methane adsorption" because of an authorship dispute. The article was originally published in Vol.18 No.44 2017 pp.24-35. doi: https://doi.org/10.5564/mjc.v18i44.93

Influence of compressing pressure on macro void formation of carbon monolith for methane adsorption

Carbon monoliths for adsorbed natural gas (ANG) storage were prepared from Mongolian anthracite-based activated carbons using carboxy-methyl cellulose as a binder under different compressing pressures. Nitrogen adsorption/desorption experiments were carried out to obtain the specific surface area, pore volume, and pore size distribution of the monoliths.  Methane adsorption experiments on the carbon monoliths were conducted at different temperatures and pressures up to around 3.5 MPa in a high pressure volumetric adsorption apparatus. As expected, adsorption results indicated that the methane adsorption capacity of the carbon monoliths increased with increasing specific surface area and packing density.  The maximum volumetric adsorption of methane was observed as 163 V/V at 293 K and 3.5 MPa on a carbon monolith sample, PMAC1/2-3-65, that does not have the highest specific surface area but relatively high packing density comparing with other monoliths, which implies that two physical properties contribute contradictorily to the methane adsorption capacity.  Based on experimental results, the carbon monoliths prepared from Mongolian anthracite-based activated carbons can be promising media for ANG storage application

Preparation of “Open/closed” pores of PLGA-microsphere for controlled release of protein drug

Poly(D,L-lactic-co-glycolic acid)  has been extensively used as a controlled release carrier for drug delivery due to its good biocompatibility, biodegradability, and mechanical strength. In this study, porous PLGA microspheres were fabricated by an emulsion-solvent evaporation technique using poly ethylene glycol (PEG) as an extractable porogen and loaded with  protein (lysozyme) by suspending them in protein solution. For controlled release of protein, porous microspheres containing lysozyme were treated with water-miscible solvents in aqueous phase for production of pore-closed microspheres. The surface morphology of microspheres were investigated using scanning electron microscopy (SEM) for confirmation of its porous microstructure structure. Protein property after release was observed by enzymatic activity assay. The pore-closing process resulted in nonporous microspheres which exhibited sustained release patterns over an extended period