A systematic method for swimming control of the underwater snake-like robot is still lacking. We construct a simulation platform of the underwater snake-like robot swimming based on Kane's dynamic model and centra...A systematic method for swimming control of the underwater snake-like robot is still lacking. We construct a simulation platform of the underwater snake-like robot swimming based on Kane's dynamic model and central pattern generator(CPG). The partial velocity is deduced. The forces which contribute to dynamics are determined by Kane's approach. Hydrodynamic coefficients are determined by experiments. Then, we design a CPG-based control architecture implemented as the system of coupled nonlinear oscillators. The CPG, like its biological counterpart, can produce coordinated patterns of rhythmic activity while being modulated by simple control parameters. The relations between the CPG parameters and the speed of the underwater snake-like robot swimming are investigated. Swimming in a straight line, turning, and switching between swimming modes are implemented in our simulation platform to prove the feasibility of the proposed simulation platform. The results show that the simulation platform can imitate different swimming modes of the underwater snake-like robot.展开更多
The article initially reviews various works describing the physical model (PM) of Michelson’s interferometric experiment (ME), represented by the race between two swimmers Sw1, Sw2 (or boats, or planes, or sound sign...The article initially reviews various works describing the physical model (PM) of Michelson’s interferometric experiment (ME), represented by the race between two swimmers Sw1, Sw2 (or boats, or planes, or sound signals, etc.). The two swimmers must each swim the same distance, but Sw1 will swim along the river flow, and Sw2 will swim perpendicularly to this direction. In all such works, it is considered that Sw2’s path will require less time and that it will reach the start point first. However, in this work, it has been determined that in order to make this possible, Sw2 must not observe the orthogonality rule of his start direction. This action would be deceitful to the arbiters and thus considered as non-fair-play towards Sw1. The article proves by swimming times calculus, that if the fair-play rules are observed, then the correct crosswise path (in water reference frame) is a right triangle instead of the isosceles triangle considered by Michelson. Consequently, the two times shall be perfectly equal and the race ends in a tie, and the myth of Sw2 as the race winner shall be debunked. Note that the same result shall also be applicable to Michelson’s interferometric experiment (ME) as well as to any similar experiment. Therefore, utilising the isosceles triangle as the transversal path in PM and also in ME is an erroneous act.展开更多
Objectives: Recent findings have further highlighted the role of the thyroid system in the pathophysiology of depression and revealed new physiologically relevant elements of the thyroid system. Our previous study sho...Objectives: Recent findings have further highlighted the role of the thyroid system in the pathophysiology of depression and revealed new physiologically relevant elements of the thyroid system. Our previous study showed an antidepressant-like effect of 3,5-diiodo-L-thyronine(T2), which was previously considered to be a physiologically inactive molecule, in mice. Here, we aimed to investigate the antidepressant-like effects of T2 further. Methods: We studied the effects of bolus injections of T2 to C57Bl6 J mice at doses of 0.25 or 0.75 mg/kg with the tail suspension and forced swim models. The effects of the higher dose were investigated in CD1 mice in the forced swim test. Potential behavioral effects of these treatments were also studied using the novel cage and dark-light box tests.Results: A reduction of depressive-like behavior was found in mice treated with 0.75 mg/kg of T2 in the tail suspension test, but not in the forced swim test. Locomotion and anxiety variables were unaltered following treatment with T2. There were no significant changes after bolus administration of 0.25 mg/kg T2 in either test for depressive-like behavior. Thus, bolus injection of T2 at the dose 0.75 mg/kg can induce antidepressant-like effects without affecting other behaviors. Conclusions: A discrepant result in the forced swim test may be due to its different sensitivity to T2 compared with the tail suspension paradigm. Furthermore, the development of procedural modifications of this model can be useful in its application in pre-clinical studies.展开更多
Disinfection by-products(DBPs)are formed in swimming pools by the reactions of bather inputs with the disinfectant.Although a wide range of molecules has been identified within DBPs,only few kinetic rates have been re...Disinfection by-products(DBPs)are formed in swimming pools by the reactions of bather inputs with the disinfectant.Although a wide range of molecules has been identified within DBPs,only few kinetic rates have been reported.This study investigates the kinetics of chlorine consumption,chloroform formation and dichloroacetonitrile formation caused by human releases.Since the flux and main components of human inputs have been determined and formalized through Body Fluid Analogs(BFAs),it is possible to model the DBPs formation kinetics by studying a limited number of precursor molecules.For each parameter the individual contributions of BFA components have been quantified and kinetic rates have been determined,based on reaction mechanisms proposed in the literature.With a molar consumption of 4 mol Cl2/mol,urea is confirmed as the major chlorine consumer in the BFA because of its high concentration in human releases.The higher reactivity of ammonia is however highlighted.Citric acid is responsible for most of the chloroform produced during BFA chlorination.Chloroform formation is relatively slow with a limiting rate constant determined at 5.50×10^-3 L/mol/sec.L-histidine is the only precursor for dichloroacetonitrile in the BFA.This DBP is rapidly formed and its degradation by hydrolysis and by reaction with hypochlorite shortens its lifetime in the basin.Reaction rates of dichloroacetonitrile formation by L-histidine chlorination have been established based on the latest chlorination mechanisms proposed.Moreover,this study shows that the reactivity toward chlorine differs whether L-histidine is isolated or mixed with BFA components.展开更多
基金the National Natural Science Foundation of China(No.51009091)the Special Research Fund for the Doctoral Program of Higher Education of China(No.20100073120016)
文摘A systematic method for swimming control of the underwater snake-like robot is still lacking. We construct a simulation platform of the underwater snake-like robot swimming based on Kane's dynamic model and central pattern generator(CPG). The partial velocity is deduced. The forces which contribute to dynamics are determined by Kane's approach. Hydrodynamic coefficients are determined by experiments. Then, we design a CPG-based control architecture implemented as the system of coupled nonlinear oscillators. The CPG, like its biological counterpart, can produce coordinated patterns of rhythmic activity while being modulated by simple control parameters. The relations between the CPG parameters and the speed of the underwater snake-like robot swimming are investigated. Swimming in a straight line, turning, and switching between swimming modes are implemented in our simulation platform to prove the feasibility of the proposed simulation platform. The results show that the simulation platform can imitate different swimming modes of the underwater snake-like robot.
文摘The article initially reviews various works describing the physical model (PM) of Michelson’s interferometric experiment (ME), represented by the race between two swimmers Sw1, Sw2 (or boats, or planes, or sound signals, etc.). The two swimmers must each swim the same distance, but Sw1 will swim along the river flow, and Sw2 will swim perpendicularly to this direction. In all such works, it is considered that Sw2’s path will require less time and that it will reach the start point first. However, in this work, it has been determined that in order to make this possible, Sw2 must not observe the orthogonality rule of his start direction. This action would be deceitful to the arbiters and thus considered as non-fair-play towards Sw1. The article proves by swimming times calculus, that if the fair-play rules are observed, then the correct crosswise path (in water reference frame) is a right triangle instead of the isosceles triangle considered by Michelson. Consequently, the two times shall be perfectly equal and the race ends in a tie, and the myth of Sw2 as the race winner shall be debunked. Note that the same result shall also be applicable to Michelson’s interferometric experiment (ME) as well as to any similar experiment. Therefore, utilising the isosceles triangle as the transversal path in PM and also in ME is an erroneous act.
基金Supported by RFBR,research project No.16-34-01165
文摘Objectives: Recent findings have further highlighted the role of the thyroid system in the pathophysiology of depression and revealed new physiologically relevant elements of the thyroid system. Our previous study showed an antidepressant-like effect of 3,5-diiodo-L-thyronine(T2), which was previously considered to be a physiologically inactive molecule, in mice. Here, we aimed to investigate the antidepressant-like effects of T2 further. Methods: We studied the effects of bolus injections of T2 to C57Bl6 J mice at doses of 0.25 or 0.75 mg/kg with the tail suspension and forced swim models. The effects of the higher dose were investigated in CD1 mice in the forced swim test. Potential behavioral effects of these treatments were also studied using the novel cage and dark-light box tests.Results: A reduction of depressive-like behavior was found in mice treated with 0.75 mg/kg of T2 in the tail suspension test, but not in the forced swim test. Locomotion and anxiety variables were unaltered following treatment with T2. There were no significant changes after bolus administration of 0.25 mg/kg T2 in either test for depressive-like behavior. Thus, bolus injection of T2 at the dose 0.75 mg/kg can induce antidepressant-like effects without affecting other behaviors. Conclusions: A discrepant result in the forced swim test may be due to its different sensitivity to T2 compared with the tail suspension paradigm. Furthermore, the development of procedural modifications of this model can be useful in its application in pre-clinical studies.
基金the Conseil Régional de Bretagne for financial support
文摘Disinfection by-products(DBPs)are formed in swimming pools by the reactions of bather inputs with the disinfectant.Although a wide range of molecules has been identified within DBPs,only few kinetic rates have been reported.This study investigates the kinetics of chlorine consumption,chloroform formation and dichloroacetonitrile formation caused by human releases.Since the flux and main components of human inputs have been determined and formalized through Body Fluid Analogs(BFAs),it is possible to model the DBPs formation kinetics by studying a limited number of precursor molecules.For each parameter the individual contributions of BFA components have been quantified and kinetic rates have been determined,based on reaction mechanisms proposed in the literature.With a molar consumption of 4 mol Cl2/mol,urea is confirmed as the major chlorine consumer in the BFA because of its high concentration in human releases.The higher reactivity of ammonia is however highlighted.Citric acid is responsible for most of the chloroform produced during BFA chlorination.Chloroform formation is relatively slow with a limiting rate constant determined at 5.50×10^-3 L/mol/sec.L-histidine is the only precursor for dichloroacetonitrile in the BFA.This DBP is rapidly formed and its degradation by hydrolysis and by reaction with hypochlorite shortens its lifetime in the basin.Reaction rates of dichloroacetonitrile formation by L-histidine chlorination have been established based on the latest chlorination mechanisms proposed.Moreover,this study shows that the reactivity toward chlorine differs whether L-histidine is isolated or mixed with BFA components.
