A review of linkage mechanisms in animal joints and related bioinspired designs.

This paper presents a review of biological mechanical linkage mechanisms. One purpose is to identify the range of kinematic functions that they are able to perform. A second purpose is to review progress in bioinspired designs. Ten different linkage mechanisms are presented. They are chosen because they cover a wide range of functionality and because they have potential for bioinspired design. Linkage mechanisms enable animal joints to perform highly sophisticated and optimised motions. A key function of animal linkage mechanisms is the optimisation of actuator location and mechanical advantage. This is crucially important for animals where space is highly constrained. Many of the design features used by engineers in linkage mechanisms are seen in nature, such as short coupler links, extended bars, elastic energy storage and latch mechanisms. However, animal joints contain some features rarely seen in engineering such as integrated cam and linkage mechanisms, nonplanar four-bar mechanisms, resonant hinges and highly redundant actuators. The extreme performance of animal joints together with the unusual design features makes them an important area of investigation for bioinspired designs. Whilst there has been significant progress in bioinspiration, there is the potential for more, especially in robotics where compactness is a key design driver

A review of linkage mechanisms in animal joints and related bioinspired designs

Abstract: This paper presents a review of biological mechanical linkage mechanisms. One purpose is to identify the range of kinematic functions that they are able to perform. A second purpose is to review progress in bioinspired designs. Ten different linkage mechanisms are presented. They are chosen because they cover a wide range of functionality and because they have potential for bioinspired design. Linkage mechanisms enable animal joints to perform highly sophisticated and optimised motions. A key function of animal linkage mechanisms is the optimisation of actuator location and mechanical advantage. This is crucially important for animals where space is highly constrained. Many of the design features used by engineers in linkage mechanisms are seen in nature, such as short coupler links, extended bars, elastic energy storage and latch mechanisms. However, animal joints contain some features rarely seen in engineering such as integrated cam and linkage mechanisms, nonplanar four-bar mechanisms, resonant hinges and highly redundant actuators. The extreme performance of animal joints together with the unusual design features makes them an important area of investigation for bioinspired designs. Whilst there has been significant progress in bioinspiration, there is the potential for more, especially in robotics where compactness is a key design driver

The emergence of resistance to the benzimidazole anthlemintics in parasitic nematodes of livestock is characterised by multiple independent hard and soft selective sweeps

Anthelmintic resistance is a major problem for the control of parasitic nematodes of livestock and of growing concern for human parasite control. However, there is little understanding of how resistance arises and spreads or of the “genetic signature” of selection for this group of important pathogens. We have investigated these questions in the system for which anthelmintic resistance is most advanced; benzimidazole resistance in the sheep parasites Haemonchus contortus and Teladorsagia circumcincta. Population genetic analysis with neutral microsatellite markers reveals that T. circumcincta has higher genetic diversity but lower genetic differentiation between farms than H. contortus in the UK. We propose that this is due to epidemiological differences between the two parasites resulting in greater seasonal bottlenecking of H. contortus. There is a remarkably high level of resistance haplotype diversity in both parasites compared with drug resistance studies in other eukaryotic systems. Our analysis suggests a minimum of four independent origins of resistance mutations on just seven farms for H. contortus, and even more for T. circumincta. Both hard and soft selective sweeps have occurred with striking differences between individual farms. The sweeps are generally softer for T. circumcincta than H. contortus, consistent with its higher level of genetic diversity and consequent greater availability of new mutations. We propose a model in which multiple independent resistance mutations recurrently arise and spread by migration to explain the widespread occurrence of resistance in these parasites. Finally, in spite of the complex haplotypic diversity, we show that selection can be detected at the target locus using simple measures of genetic diversity and departures from neutrality. This work has important implications for the application of genome-wide approaches to identify new anthelmintic resistance loci and the likelihood of anthelmintic resistance emerging as selection pressure is increased in human soil-transmitted nematodes by community wide treatment programs

Reducing waste : repair, recondition, remanufacture or recycle?

Between 1980 and 1997, municipal waste in OECD countries increased by around 40%. This paper outlines the very real negative effects of this increase and then introduces the two main European Union policies that have been established to address this problem: a landfill directive and legislation on extended producer responsibility (EPR). The paper then describes and compares the four alternative strategies to reducing end-of-life waste within the context of extended producer responsibility: namely repairing, reconditioning, remanufacturing or recycling. It also introduces a more robust definition of remanufacturing, validated by earlier research, which differentiates it from repair and reconditioning. From a consideration of the different factors involved, it concludes that remanufacturing may well be the best strategy. This is because it enables the embodied energy of virgin production to be maintained, preserves the intrinsic added value of the product for the manufacturer and enables the resultant products to be sold as new with updated features if necessary