Human-and-Humanoid Postures Under External Disturbances: Modeling,Simulation, and Robustness. Part 2: Simulation and Robustness

The sophisticated method for mathematical modeling of humanoid robots formulated in Part 1 of this paper is applied here to the dynamic task of keeping a posture under disturbance, which is equally important to humans and humanoid robots. The idea of this work is to develop and realize a simulator tool for dynamic analysis of human-or-humanoid behavior under disturbances. To show the potentials and verify this tool, we comparatively analyze the robustness of some postures to external disturbance. At this stage of research we do not conduct real experiments with humans/humanoids but try to verify our simulation tool by relying on available experience. Therefore, the postures for comparison are taken from everyday life and from sports: upright standing, squat posture, and three karate postures. As the external disturbance we choose an impulse and a permanent force, both with variable direction and magnitude.     

Cyanobacteria,Cyanotoxins, and Neurodegenerative Diseases: Dangerous Liaisons

The prevalence of neurodegenerative disease (ND) is increasing, partly owing to extensions in lifespan, with a larger percentage of members living to an older age, but the ND aetiology and pathogenesis are not fully understood, and effective treatments are still lacking. Neurodegenerative diseases such as Alzheimer’s disease, Parkinson’s disease, and amyotrophic lateral sclerosis are generally thought to progress as a consequence of genetic susceptibility and environmental influences. Up to now, several environmental triggers have been associated with NDs, and recent studies suggest that some cyanotoxins, produced by cyanobacteria and acting through a variety of molecular mechanisms, are highly neurotoxic, although their roles in neuropathy and particularly in NDs are still controversial. In this review, we summarize the most relevant and recent evidence that points at cyanotoxins as environmental triggers in NDs development.     

Batch and Fed‐Batch Degradation of Enrofloxacin by the Fenton Process

Enrofloxacin is a synthetic second‐generation fluoroquinolone used as an antimicrobial agent exclusively in veterinary medicine. To simulate the treatment of wastewater contaminated by enrofloxacin, four‐day long fed‐batch runs were carried out according to the Fenton process with an enrofloxacin solution as model, to which hydrogen peroxide and ferrous ion were added twice a day. The residual enrofloxacin concentration was practically coincident to that detected at the end of the batch tests. Hydrogen peroxide was almost completely consumed after each feeding period, while the total organic carbon (TOC) concentration decreased gradually within three days, corresponding to a reduction > 58 %. From the third day on, the TOC falling rate was quite low. A yellow sludge settled due to the precipitation of both Fe(OH)₃ and a complex formed by ferric ion with adsorbed enrofloxacin and/or its oxidation products.     

A new approach to evaluating the toxicity and genotoxicity of disinfected drinking water

The aim of this study was to evaluate the formation of toxic and genotoxic compounds in surface drinking waters treated with two widely used disinfectants, sodium hypochlorite (NaClO) and chlorine dioxide (ClO(2)), and a new disinfectant, peracetic acid (PAA). For this purpose a pilot plant was set up to add these biocides continuously to pre-filtered lake water flowing into three different basins. During three seasonal experiments, short-term in vivo tests (with plant, fish and molluscs) and in vitro tests (with bacteria, yeast and human cells) were carried out to evaluate the formation of genotoxic disinfection by-products (DBPs). Gas chromatography/mass spectrometry (GC/MS) was used to identify DBPs produced during the different treatments, microbiological analyses were performed to test the biocidal activity of the disinfectants, and chemical analyses were carried out to evaluate the quality of the water. The pilot drinking water plant under study was useful in studying the toxicity and genotoxicity of disinfected drinking water with this combined chemical/biotoxicological approach. This paper describes the setting up of the pilot plant and sets out/reports the results of the microbiological and chemical analyses.     

Total mercury,methylmercury and selenium in mercury polluted areas in the province Guizhou,China

The province of Guizhou in Southwestern China is currently one of the world's most important mercury production areas. Emissions of mercury from the province to the global atmosphere have been estimated to be approximately 12% of the world total anthropogenic emissions. The main objective of this study was to assess the level of contamination with Hg in two geographical areas of Guizhou province. Mercury pollution in the areas concerned originates from mercury mining and ore processing in the area of Wanshan, while in the area of Quingzhen mercury pollution originates from the chemical industry discharging Hg through wastewaters and emissions to the atmosphere due to coal burning for electricity production. The results of this study confirmed high contamination with Hg in soil, sediments and rice in the Hg mining area in Wanshan. High levels of Hg in soil and rice were also found in the vicinity of the chemical plant in Quingzhen. The concentrations of Hg decreased with distance from the main sources of pollution considerably. The general conclusion is that Hg contamination in Wanshan is geographically more widespread, due to deposition and scavenging of Hg from contaminated air and deposition on land. In Quingzhen Hg contamination of soil is very high close to the chemical plant but the levels reach background concentrations at a distance of several km. Even though the major source of Hg in both areas is inorganic Hg, it was observed that active transformation of inorganic Hg to organic Hg species (MeHg) takes place in water, sediments and soils. The concentration of Hg in rice grains can reach up to 569 microg/kg of total Hg of which 145 microg/kg was in MeHg form. The percentage of Hg as MeHg varied from 5 to 83%. The concentrations of selenium can reach up to 16 mg/kg in soil and up to 1 mg/g in rice. A correlation exists between the concentration of Se in soil and rice, indicating that a portion of Se is bioavailable to plants. No correlation between Hg and Se in rice was found. Exposure of the local population to Hg may occur due to inhalation of Hg present in air (in particular in Hg mining area) and consumption of Hg contaminated food (in particular rice and fish) and water. Comparison of intake through these different routes showed that the values of Hg considerably exceed the USA EPA Reference Concentration (RfC) for chronic Hg exposure (RfC is 0.0004 mg/m(3)) close to the emission sources. Intake of Hg through food consumption, particularly rice and fish, is also an important route of Hg exposure in study area. In general, it can be concluded that the population mostly at risk is located in the vicinity of smelting facilities, mining activities and close to the waste disposal sites in the wider area of Wanshan. In order to assess the real level of contamination in the local population, it is recommended that biomonitoring should be performed, including Hg and MeHg measurements in hair, blood and urine samples.     

Bioaccumulation of mercury in benthic communities of a river ecosystem affected by mercury mining

The presence of mercury in the river Idrijca (Slovenia) is mainly due to 500 years of mercury mining in this region. In order to understand the cycling of mercury in the Idrijca ecosystem it is crucial to investigate the role of biota. This study is part of an ongoing investigation of mercury biogeochemistry in the river Idrijca, focusing on the accumulation and speciation of mercury in the lower levels of the food chain, namely filamentous algae, periphyton and macroinvertebrates. Mercury analysis and speciation in the biota and in water were performed during the spring, summer and autumn seasons at four locations on the river, representing different degrees of mercury contamination. Total (THg) and methyl mercury (MeHg) were measured. The results showed that the highest THg concentrations in biota correlate well with THg levels in sediments and water. The level of MeHg is spatially and seasonally variable, showing higher values at the most contaminated sites during the summer and autumn periods. The percentage of Hg as MeHg increases with the trophic level from water (0.1-0.8%), algae (0.5-1.3%), periphyton (1.6-8.8%) to macroinvertebrates (0.1-100%), which indicates active transformation, accumulation and magnification of mercury in the benthic organism of this heavily contaminated torrential river.     

Theoretical and Experimental Analysis of Moisture-Dependent Thermal Conductivity of Lightweight Ceramic Bricks

The moisture-dependent thermal conductivity of two types of lightweight ceramic brick body is analyzed using both theoretical and experimental approaches. The basic physical properties are determined at first. Then, an impulse method is applied for the thermal-conductivity measurement. Initially, the material samples are dried, after that, they are exposed to liquid water for specific time intervals, and finally the moisture content is allowed to homogenize within the whole volume. The thermal-conductivity measurement is performed for different moisture contents achieved in this way. In the theoretical part, the homogenization principles are used for the calculation of the moisture-dependent thermal conductivity, utilizing the distribution functions based on the pore-size distribution measurement. Finally, a comparison of the measured and calculated data is done, and the validity of the applied effective media treatment is assessed.     

Sol gel transitions during acid gelation of milk containing modified waxy maize starch. Differences between chemical and bacterial acidification measured using rheological and spectroscopic techniques

Modified waxy maize starch (1%, w/v) was added to skim milk and the mixtures were heated and homogenized. Acidification was conducted at 40 °C, using either glucono-δ-lactone (GDL) or a commercial starter culture. The physico-chemical changes occurring during acidification were monitored using small oscillatory rheology, diffusing wave spectroscopy and ultrasound spectroscopy. A similar gelling behaviour was noted for GDL and bacterial-induced gels; however, a difference was noted in the values of storage modulus (G′). The presence of starch did not seem to affect the development of the gel structure, nor the mobility and positional correlations of the casein micelles during acidification. On the other hand, starch increased the final storage modulus, G′ of the acid milk gels. These results indicate the absence of direct interactions between micelles and the modified starch granules.