Maneuverable and Efficient Locomotion of a Myriapod Robot with Variable Body-Axis Flexibility via Instability and Bifurcation

Aoi Shinya, Yabuuchi Yuki, Morozumi Daiki, et al. Maneuverable and Efficient Locomotion of a Myriapod Robot with Variable Body-Axis Flexibility via Instability and Bifurcation. Soft Robotics 6, NT64 (2023); https://doi.org/10.1089/soro.2022.0177

Porencephaly in a Cynomolgus Monkey (Macaca Fascicularis)

Porencephaly was observed in a female cynomolgus monkey (Macaca fascicularis) aged 5 years and 7 months. The cerebral hemisphere exhibited diffuse brownish excavation with partial defects of the full thickness of the hemispheric wall, and it constituted open channels between the lateral ventricular system and arachnoid space. In addition, the bilateral occipital lobe was slightly atrophied. Histopathologically, fibrous gliosis was spread out around the excavation area and its periphery. In the roof tissue over the cavity, small round cells were arranged in the laminae. They seemed to be neural or glial precursor cells because they were positive for Musashi 1 and negative for NeuN and GFAP. In the area of fibrous gliosis, hemosiderin or lipofuscin were deposited in the macrophages, and activated astroglias were observed extensively around the excavation area

Detection of Debonding Area in Aluminium-GFRP Laminates by Electromagnetic Transducer

Electromagnetic Acoustic Transducer (EMAT) is applied to nondestructive testing of aluminum-GFRP laminates. Because of its high specific strength, laminated FRP came to be used in place of metal materials. However, once delamination is introduced by the impact force in the out-of-plane direction, the compressive strength in the in-plane direction is greatly reduced. To improve the tolerance for impact force, fiber metal laminates (FML) have been developed. Since debonding may occur at the interface of FRP and metal sheet, nondestructive detection of the debonding is required as health monitoring of the FML. In this study, GFRP laminates were molded on aluminum sheets, and we measured the distribution of standing wave amplitude in the aluminum sheets using EMAT for shear wave. In the bonded area, the shear wave is partially transmitted to the FRP on reflection at the boundary, which makes the attenuation coefficient larger than that in the debonded area. It was found that in scanning the EMAT, the standing wave amplitude starts to change when the center of the EMAT passes the boundary between bonding and debonding areas. It was also revealed that minimum size of the debonding area that EMAT can detect is comparable to its effective area. For accurate evaluation of the debonding area, resonant frequency measurement is recommended at each point

Advanced turning maneuver of a multi-legged robot using pitchfork bifurcation

Legged robots have excellent terrestrial mobility for traversing diverse environments and thus have the potential to be deployed in a wide variety of scenarios. However, they are susceptible to falling and leg malfunction during locomotion. Although the use of a large number of legs can overcome these problems, it makes the body long and leads to many legs being constrained to contact with the ground to support the long body, which impedes maneuverability. To improve the locomotion maneuverability of such robots, the present study focuses on dynamic instability, which induces rapid and large movement changes, and uses a 12-legged robot with a flexible body axis. Our previous work found that the straight walk of the robot becomes unstable through Hopf bifurcation when the body axis flexibility is changed, which induces body undulations. Furthermore, we developed a simple controller based on the Hopf bifurcation and showed that the instability facilitates the turning of the robot. In this study, we newly found that the straight walk becomes unstable through pitchfork bifurcation when the body-axis flexibility is changed in a way different from that in our previous work. In addition, the pitchfork bifurcation induces a transition into a curved walk, whose curvature can be controlled by the body-axis flexibility. We developed a simple controller based on the pitchfork-bifurcation characteristics and demonstrated that the robot can perform a turning maneuver superior to that with the previous controller. This study provides a novel design principle for maneuverable locomotion of many-legged robots using intrinsic dynamic properties

Suppressed Hepatic Production of Indoxyl Sulfate Attenuates Cisplatin-Induced Acute Kidney Injury in Sulfotransferase 1a1-Deficient Mice

Endogenous factors involved in the progression of cisplatin nephropathy remain undetermined. Here, we demonstrate the toxico-pathological roles of indoxyl sulfate (IS), a sulfate-conjugated uremic toxin, and sulfotransferase 1A1 (SULT1A1), an enzyme involved in its synthesis, in cisplatin-induced acute kidney injury using Sult1a1-deficient (Sult1a1-/- KO) mice. With cisplatin administration, severe kidney dysfunction, tissue damage, and apoptosis were attenuated in Sult1a1-/- (KO) mice. Aryl hydrocarbon receptor (AhR) expression was increased by treatment with cisplatin in mouse kidney tissue. Moreover, the downregulation of antioxidant stress enzymes in wild-type (WT) mice was not observed in Sult1a1-/- (KO) mice. To investigate the effect of IS on the reactive oxygen species (ROS) levels, HK-2 cells were treated with cisplatin and IS. The ROS levels were significantly increased compared to cisplatin or IS treatment alone. IS-induced increases in ROS were reversed by downregulation of AhR, xanthine oxidase (XO), and NADPH oxidase 4 (NOX4). These findings suggest that SULT1A1 plays toxico-pathological roles in the progression of cisplatin-induced acute kidney injury, while the IS/AhR/ROS axis brings about oxidative stress