Generation of effective sand-blasting trajectory for an autonomous robot in steel bridge maintenance

University of Technology, Sydney. Faculty of Engineering.Steel bridges are vulnerable to corrosions, which results in conditions demanding regular maintenance in terms of de-rusting and re-painting. Current practices mostly rely on human workers with manually operated sand-blasting equipment to remove the rust or paint. This approach is labour intensive, tedious and, most of all, causes health and safety hazards for the workers, due to toxic dust arising from the removed lead or asbestos-based paints. Thus, an autonomous steel bridge maintenance system is very desirable, and the motion control of a robotic arm is identified as a key system requirement. This thesis is concerned with studies on algorithms for generating an effective trajectory to be followed by an industrial robot arm used in sand-blasting. It is crucial in the context of productivity that the motion of the arm should follow a trajectory that aims to maximise the coverage of the blasted area and minimise the arm movements. The problem is challenging due to the changing environment underneath the bridge and the risk of colliding with obstacles. Furthermore, the trajectory generation process is complicated because of the many requirements imposed, such as minimum arm travel distance: minimum number of turns and minimum time to complete the blasting. The problem is tackled in this research by beginning with an assignment of the blasting area, where a hexagonal coverage pattern is adopted to allocate blasting targets. The sequencing of blasting spots on the blasting surface, constituting the path to be followed by the blasting nozzle, is determined through the use of a genetic algorithm as a sequence-finder for its applicability and flexibility in many engineering design problems. The order of blasting spots (that is, the path of nozzle) is then transformed to robot joint angles, that is, trajectory, by a genetic algorithm amended inverse kinematics approach. Furthermore, a method based on three-dimensional force-fields is used to safeguard the robot against collisions with obstacles. The resultant trajectory, in the form of a series of joint angles commands are fed to a Denso VM-6083D-W industrial robot for sand-blasting. The effectiveness of the generated trajectory is verified by simulations and experiments. It is shown that trajectories can be derived for blasting surfaces with satisfactory coverage. The developed method is further demonstrated in generating trajectories for a number of blasting surfaces of different sizes, to the extent of the work space, at various locations and orientations surrounding the robot arm. An experiment is conducted, on a mock-up robotic blasting system, by driving the robot arm in accordance with a generated trajectory

A robotic system for steel bridge maintenance: Research challenges and system design

This paper presents the research on and development of a robotic system for stripping paint and rust from steel bridges, with the ultimate objective of preventing human exposure to hazardous and dangerous debris (containing rust, paint particles, lead and/or asbestos), relieving human workers from labor intensive tasks and reducing costs associated with bridge maintenance. The robot system design, the key research challenges and enabling technologies and system development are discussed in detail. Research results obtained so far and discussions on some key issues are also presented

Planar Hall effect from the surface of topological insulators

A prominent feature of topological insulators (TIs) is the surface states comprising of spin-nondegenerate massless Dirac fermions. Recent technical advances have made it possible to address the surface transport properties of TI thin films by tuning the Fermi levels of both top and bottom surfaces. Here we report our discovery of a novel planar Hall effect (PHE) from the TI surface, which results from a hitherto-unknown resistivity anisotropy induced by an in-plane magnetic field. This effect is observed in dual-gated devices of bulk-insulating Bi2−x Sb x Te3 thin films, where the field-induced anisotropy presents a strong dependence on the gate voltage with a characteristic two-peak structure near the Dirac point. The origin of PHE is the peculiar time-reversal-breaking effect of an in-plane magnetic field, which anisotropically lifts the protection of surface Dirac fermions from backscattering. The observed PHE provides a useful tool to analyze and manipulate the topological protection of the TI surface

Rudimentary G-Quadruplex-Based Telomere Capping In Saccharomyces Cerevisiae

Telomere capping conceals chromosome ends from exonucleases and checkpoints, but the full range of capping mechanisms is not well defined. Telomeres have the potential to form G-quadruplex (G4) DNA, although evidence for telomere G4 DNA function in vivo is limited. In budding yeast, capping requires the Cdc13 protein and is lost at nonpermissive temperatures in cdc13-1 mutants. Here, we use several independent G4 DNA-stabilizing treatments to suppress cdc13-1 capping defects. These include overexpression of three different G4 DNA binding proteins, loss of the G4 DNA unwinding helicase Sgs1, or treatment with small molecule G4 DNA ligands. In vitro, we show that protein-bound G4 DNA at a 3\u27 overhang inhibits 5\u27-\u3e 3\u27 resection of a paired strand by exonuclease I. These findings demonstrate that, at least in the absence of full natural capping, G4 DNA can play a positive role at telomeres in vivo

EST Analysis of Ostreococcus lucimarinus, the Most Compact Eukaryotic Genome, Shows an Excess of Introns in Highly Expressed Genes

Background: The genome of the pico-eukaryotic (bacterial-sized) prasinophyte green alga Ostreococcus lucimarinus has one of the highest gene densities known in eukaryotes, yet it contains many introns. Phylogenetic studies suggest this unusually compact genome (13.2 Mb) is an evolutionarily derived state among prasinophytes. The presence of introns in the highly reduced O. lucimarinus genome appears to be in opposition to simple explanations of genome evolution based on unidirectional tendencies, either neutral or selective. Therefore, patterns of intron retention in this species can potentially provide insights into the forces governing intron evolution. Methodology/Principal Findings: Here we studied intron features and levels of expression in O. lucimarinus using expressed sequence tags (ESTs) to annotate the current genome assembly. ESTs were assembled into unigene clusters that were mapped back to the O. lucimarinus Build 2.0 assembly using BLAST and the level of gene expression was inferred from the number of ESTs in each cluster. We find a positive correlation between expression levels and both intron number (R = +0.0893, p =,0.0005) and intron density (number of introns/kb of CDS; R = +0.0753, p =,0.005). Conclusions/Significance: In a species with a genome that has been recently subjected to a great reduction of non-coding DNA, these results imply the existence of selective/functional roles for introns that are principally detectable in highly expressed genes. In these cases, introns are likely maintained by balancing the selective forces favoring their maintenanc

Rational engineering of recombinant picornavirus capsids to produce safe, protective vaccine antigen

Foot-and-mouth disease remains a major plague of livestock and outbreaks are often economically catastrophic. Current inactivated virus vaccines require expensive high containment facilities for their production and maintenance of a cold-chain for their activity. We have addressed both of these major drawbacks. Firstly we have developed methods to efficiently express recombinant empty capsids. Expression constructs aimed at lowering the levels and activity of the viral protease required for the cleavage of the capsid protein precursor were used; this enabled the synthesis of empty A-serotype capsids in eukaryotic cells at levels potentially attractive to industry using both vaccinia virus and baculovirus driven expression. Secondly we have enhanced capsid stability by incorporating a rationally designed mutation, and shown by X-ray crystallography that stabilised and wild-type empty capsids have essentially the same structure as intact virus. Cattle vaccinated with recombinant capsids showed sustained virus neutralisation titres and protection from challenge 34 weeks after immunization. This approach to vaccine antigen production has several potential advantages over current technologies by reducing production costs, eliminating the risk of infectivity and enhancing the temperature stability of the product. Similar strategies that will optimize host cell viability during expression of a foreign toxic gene and/or improve capsid stability could allow the production of safe vaccines for other pathogenic picornaviruses of humans and animals

Remote Ischemic Conditioning as an Additional Treatment for Acute Ischemic Stroke.

Acute ischemic stroke (AIS) is the leading cause of disability in adults worldwide and has the second highest mortality of all cardiovascular diseases[1]. The burden of stroke is likely to increase significantly during the next decades, primarily due to population growth and aging[2]. Given the detrimental impact of stroke on healthcare (costs) and patient well-being, it is imperative to explore opportunities for novel therapies to add to the current treatment to further minimize neurological injury. During an ischemic stroke, occlusion of a cerebral artery abrogates cerebral perfusion, causing brain tissue distal from the occlusion to become deprived of oxygen and nutrients, ultimately leading to ischemic injury. Surrounding the ischemic core an area called the penumbra contains potentially reversible injured brain tissue, which may remain viable for several hours. Whilst the time window to attenuate the detrimental impact of an ischemic stroke seems limited to six hours after onset of AIS[3, 4], recent research suggests that subgroups may benefit up to 24 hours[5, 6]. This time window of 6-24 hours offers perspective for hospital-based, additional therapies to reduce ischemic injury and minimize clinical deterioration in AIS patients. This review focuses on remote ischemic conditioning (RIC) as an additive therapy to improve clinical outcomes in AIS patients, both when applied as a single as well as repeated bouts. RIC refers to the application of several cycles of brief ischemia and reperfusion to a limb (using a blood pressure cuff). Pre-clinical work revealed this stimulus to reduce neural damage after reperfusion[7-11], validating the concept that RIC may have clinical potential in AIS. RIC therefore represents a simple, low cost therapeutic strategy that may salvage brain tissue in the penumbral area. In this review, we will summarize (pre)clinical evidence for the efficacy of RIC as an additional therapy in AIS patients

Effects of Carbon Dioxide Aerosols on the Viability of Escherichia coli during Biofilm Dispersal

A periodic jet of carbon dioxide (CO2) aerosols is a very quick and effective mechanical technique to remove biofilms from various substrate surfaces. However, the impact of the aerosols on the viability of bacteria during treatment has never been evaluated. In this study, the effects of high-speed CO2 aerosols, a mixture of solid and gaseous CO2, on bacteria viability was studied. It was found that when CO2 aerosols were used to disperse biofilms of Escherichia coli, they led to a significant loss of viability, with approximately 50% of the dispersed bacteria killed in the process. By comparison, 75.6% of the biofilm-associated bacteria were viable when gently dispersed using Proteinase K and DNase I. Indirect proof that the aerosols are damaging the bacteria was found using a recombinant E. coli expressing the cyan fluorescent protein, as nearly half of the fluorescence was found in the supernatant after CO2 aerosol treatment, while the rest was associated with the bacterial pellet. In comparison, the supernatant fluorescence was only 9% when the enzymes were used to disperse the biofilm. As such, these CO2 aerosols not only remove biofilm-associated bacteria effectively but also significantly impact their viability by disrupting membrane integrity.open