Upright and Crawling Locomotion and Its Transition for a Wheel-Legged Robot

To face the challenge of adapting to complex terrains and environments, we develop a novel wheel-legged robot that can switch motion modes to adapt to different environments. The robot can perform efficient and stable upright balanced locomotion on flat roads and flexible crawling in low and narrow passages. For passing through low and narrow passages, we propose a crawling motion control strategy and methods for transitioning between locomotion modes of wheel-legged robots. In practical applications, the smooth transition between the two motion modes is challenging. By optimizing the gravity work of the body, the optimal trajectory of the center of mass (CoM) for the transition from standing to crawling is obtained. By constructing and solving an optimization problem regarding the posture and motion trajectories of the underactuated model, the robot achieves a smooth transition from crawling to standing. In experiments, the wheel-legged robot successfully transitioned between the crawling mode and the upright balanced moving mode and flexibly passed a low and narrow passage. Consequently, the effectiveness of the control strategies and algorithms proposed in this paper are verified by experiments

Mechanisms of BPA Degradation and Toxicity Resistance in <i>Rhodococcus equi</i>

Bisphenol A (BPA) pollution poses an increasingly serious problem. BPA has been detected in a variety of environmental media and human tissues. Microbial degradation is an effective method of environmental BPA remediation. However, BPA is also biotoxic to microorganisms. In this study, Rhodococcus equi DSSKP-R-001 (R-001) was used to degrade BPA, and the effects of BPA on the growth metabolism, gene expression patterns, and toxicity-resistance mechanisms of Rhodococcus equi were analyzed. The results showed that R-001 degraded 51.2% of 5 mg/L BPA and that 40 mg/L BPA was the maximum BPA concentration tolerated by strain R-001. Cytochrome P450 monooxygenase and multicopper oxidases played key roles in BPA degradation. However, BPA was toxic to strain R-001, exhibiting nonlinear inhibitory effects on the growth and metabolism of this bacterium. R-001 bacterial biomass, total protein content, and ATP content exhibited V-shaped trends as BPA concentration increased. The toxic effects of BPA included the downregulation of R-001 genes related to glycolysis/gluconeogenesis, pentose phosphate metabolism, and glyoxylate and dicarboxylate metabolism. Genes involved in aspects of the BPA-resistance response, such as base excision repair, osmoprotectant transport, iron-complex transport, and some energy metabolisms, were upregulated to mitigate the loss of energy associated with BPA exposure. This study helped to clarify the bacterial mechanisms involved in BPA biodegradation and toxicity resistance, and our results provide a theoretical basis for the application of strain R-001 in BPA pollution treatments

Study on Genomics of the Bisphenol A-Degrading Bacterium <i>Pseudomonas</i> sp. P1

As a widespread pollutant, bisphenol A (BPA) has created a serious threat to ecosystem and human health. Therefore, expanding the available microbial resources used to screen highly efficient BPA-degrading bacteria with BPA as the sole carbon source is very important for the removal of this pollutant from the environment. In this study, the BPA degradation rate of Pseudomonas sp. P1 to 30 mg/L was 96.89% within 120 h. Whole genome sequencing showed that the genome of strain P1 was composed of a single circular chromosome with a full length of 6.17 Mb, which contained 5636 predicted coding genes. Comparative genomic analysis showed that strain P1 contained 210 functional genes related to BPA degradation. It was confirmed that BPA degradation genes ferredoxin (bisdA), P450 (bisdB), CotA and Lac in strain P1 were highly expressed under the induction of BPA. Combined with the identification of metabolites, the route of BPA degradation by Pseudomonas was proposed. A new metabolite, 4-vinylphenol, was detected for the first time in pathway Ⅰ. In pathway Ⅱ, BPA is directly oxidized to phenol and 4-isopropenyl phenol in the presence of laccase, which is rarely reported in the process of bacterial degradation of BPA. This study confirmed that strain P1 had good tolerance to various environmental factors at the gene level and enriched the degradation mechanism of BPA