Design and control of compliant tensegrity robots through simulation and hardware validation

To better understand the role of tensegrity structures in biological systems and their application to robotics, the Dynamic Tensegrity Robotics Lab at NASA Ames Research Center, Moffett Field, CA, USA, has developed and validated two software environments for the analysis, simulation and design of tensegrity robots. These tools, along with new control methodologies and the modular hardware components developed to validate them, are presented as a system for the design of actuated tensegrity structures. As evidenced from their appearance in many biological systems, tensegrity (‘tensile–integrity’) structures have unique physical properties that make them ideal for interaction with uncertain environments. Yet, these characteristics make design and control of bioinspired tensegrity robots extremely challenging. This work presents the progress our tools have made in tackling the design and control challenges of spherical tensegrity structures. We focus on this shape since it lends itself to rolling locomotion. The results of our analyses include multiple novel control approaches for mobility and terrain interaction of spherical tensegrity structures that have been tested in simulation. A hardware prototype of a spherical six-bar tensegrity, the Reservoir Compliant Tensegrity Robot, is used to empirically validate the accuracy of simulation.     

Enabling MALDI-FTICR-MS/MS for high-performance proteomics through combination of infrared and collisional activation

Matrix-assisted laser desorption/ionization (MALDI) mass spectrometry (MS) is a central tool for proteomic analysis, yet the singly protonated tryptic peptide ions produced by MALDI are significantly more difficult to dissociate for tandem mass spectrometry (MS/MS) than the corresponding multiply protonated ions. In order to overcome this limitation, current proteomic approaches using MALDI-MS/MS involve high-energy collision-induced dissociation (CID). Unfortunately, the use of high-energy CID complicates product ion spectra with a significant proportion of irrelevant fragments while also reducing mass accuracy and mass resolution. In order to address the lack of a high-resolution, high mass accuracy MALDI-MS/MS platform for proteomics, Fourier transform ion cyclotron resonance mass spectrometry (FTICR-MS) and a recently developed MS/MS technique termed CIRCA (for combination of infrared and collisional activation) have been applied to proteomic analysis. Here, CIRCA is shown to be suitable for dissociating singly protonated tryptic peptides, providing greater sequence coverage than either CID or infrared multiphoton dissociation (IRMPD) alone. Furthermore, the CIRCA fragmentation spectra are of sufficient quality to allow protein identification based on the MS/MS spectra alone or in concert with the peptide mass fingerprint (PMF). This is accomplished without compromising mass accuracy or mass resolution. As a result, CIRCA serves to enable MALDI-FTICR-MS/MS for high-performance proteomics experiments.     

Advanced reflector characterization with ultrasonic phased arrays in NDE applications

Ultrasonic arrays are increasingly widely used in nondestructive evaluation (NDE) due to their greater flexibility and potentially superior performance compared to conventional monolithic probes. The characterization of small defects remains a challenge for NDE and is of great importance for determining the impact of a defect on the integrity of a structure. In this paper, a technique for characterizing reflectors with subwavelength dimensions is described. This is achieved by post-processing the complete data set of time traces obtained from an ultrasonic array using two algorithms. The first algorithm is used to obtain information about reflector orientation and the second algorithm is used to distinguish between point-like reflectors that reflect uniformly in all directions and specular reflectors that have distinct orientations. Experimental results are presented using a commercial 64-element, 5-MHZ array on two aluminum test specimens that contain a number of machined slots and side-drilled holes. The results show that the orientation of 1-mm-long slots can be determined to within a few degrees and that the signals from 1-mm-long slots can be distinguished from that from a 1-mm-diameter circular hole. Techniques for quantifying both the orientation and the specularity of measured signals are presented and the effect of processing parameters on the accuracy of results is discussed.     

Continuous electricity generation from domestic wastewater and organic substrates in a flat plate microbial fuel cell

A microbial fuel cell (MFC) is a device that converts organic matter to electricity using microorganisms as the biocatalyst. Most MFCs contain two electrodes separated into one or two chambers that are operated as a completely mixed reactor. In this study, a flat plate MFC (FPMFC) was designed to operate as a plug flow reactor (no mixing) using a combined electrode/proton exchange membrane (PEM) system. The reactor consisted of a single channel formed between two nonconductive plates that were separated into two halves by the electrode/PEM assembly. Each electrode was placed on an opposite side of the PEM, with the anode facing the chamber containing the liquid phase and the cathode facing a chamber containing only air. Electricity generation using the FPMFC was examined by continuously feeding a solution containing wastewater, or a specific substrate, into the anode chamber. The system was initially acclimated for 1 month using domestic wastewater orwastewater enriched with a specific substrate such as acetate. Average power density using only domestic wastewater was 72+/-1 mW/m2 at a liquid flow rate of 0.39 mL/min [42% COD (chemical oxygen demand) removal, 1.1 h HRT (hydraulic retention time)]. At a longer HRT = 4.0 h, there was 79% COD removal and an average power density of 43+/-1 mW/m2. Power output was found to be a function of wastewater strength according to a Monod-type relationship, with a half-saturation constant of Ks = 461 or 719 mg COD/L. Power generation was sustained at high rates with several organic substrates (all at approximately 1000 mg COD/L), including glucose (212+/-2 mW/ m2), acetate (286+/-3 mW/m2), butyrate (220+/-1 mW/ m2), dextran (150+/-1 mW/m2), and starch (242+/-3 mW/ m2). These results demonstrate the versatility of power generation in a MFC with a variety of organic substrates and show that power can be generated at a high rate in a continuous flow reactor system.     

Occurrence, synthesis, and mammalian cell cytotoxicity and genotoxicity of haloacetamides: an emerging class of nitrogenous drinking water disinfection byproducts

The haloacetamides, a class of emerging nitrogenous drinking water disinfection byproduct (DBPs), were analyzed for their chronic cytotoxicity and for the induction of genomic DNA damage in Chinese hamster ovary cells. The rank order for cytotoxicity of 13 haloacetamides was DIAcAm > IAcAm > BAcAm > TBAcAm > BIAcAm > DBCAcAm > CIAcAm > BDCAcAm > DBAcAm > BCAcAm > CAcAm > DCAcAm > TCAcAm. The rank order of their genotoxicity was TBAcAm > DIAcAm approximately equal to IAcAm > BAcAm > DBCAcAm > BIAcAm > BDCAcAm > CIAcAm > BCAcAm > DBAcAm > CAcAm > TCAcAm. DCAcAm was not genotoxic. Cytotoxicity and genotoxicity were primarily determined by the leaving tendency of the halogens and followed the order I > Br > > Cl. With the exception of brominated trihaloacetamides, most of the toxicity rank order was consistent with structure-activity relationship expectations. For di- and trihaloacetamides, the presence of at least one good leaving halogen group (I or Br but not Cl) appears to be critical for significant toxic activity. Log P was not a factor for monohaloacetamides but may play a role in the genotoxicity of trihaloacetamides and possible activation of dihaloacetamides by intracellular GSH and -SH compounds.     

Editorial.

Psychology, Public Policy, and Law focuses on the links between psychology as a science, relevant information derived from related disciplines as sciences, and public policy and law. It will publish articles that (1) critically evaluate the actual and potential contributions of psychology to public policy and legal issues, (2) assess the desirability of different public policy and legal alternatives in light of the scientific knowledge base in psychology, (3) articulate research needs that address public policy and legal issues for which there is currently insufficient theoretical and empirical knowledge, and (4) examine public policy and legal issues relating to the conduct of psychology and of related disciplines where relevant to psychology. The goals for the journal are to (1) provide a multidisciplinary forum for scholarship and interchange relevant to the mission of the journal, (2) provide a forum for the publications of comprehensive, scholarly articles that critically consider theoretical, conceptual, and doctrinal issues or that critically review the literature on topics relevant to the mission of the journal, and (3) provide a forum for the publication of comprehensive, scholarly articles that report the results of programs of research or large-scale empirical studies relevant to the mission of the journal. This particular issue provides a forum for critical discussion of the implications of using a social science amicus brief in court cases. It also demonstrates the opportunity that this journal will provide to social scientists to critically evaluate their colleagues' work when those colleagues attempt to offer their science and opinions in the legal or public policy arenas. Finally, this issue reflects the journal's desire to be a flexible forum for scholarly interchange. Rather than always publishing articles that are relatively independent of each other, the journal will also publish issues devoted to a single theme (as occurred in the first issue of this volume), and, as in the case of this issue, to interchange about one theme when it is appropriate for advancing the field. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Local Structure of Alkaline-Earth Boroaluminate Crystals and Glasses: II, 11B and 27Al MAS NMR Spectroscopy of Alkaline-Earth Boroaluminate Glasses

¹¹B and ²⁷Al magic angle spinning nuclear magnetic resonance (MAS NMR) spectra of alkaline-earth boroaluminate glasses show that the structure of these glasses are far more complicated than previously thought. The relative concentrations of 3- and 4-coordinated boron vary as found by previous investigators using continuous-wave NMR methods, but the ²⁷Al NMR spectra indicate the presence of Al in 4-, 5-, and 6-fold coordination, in contrast to previous assignments. Analysis of the data based on local charge balance considerations provides a qualitative model that correctly predicts compositional variations of the NMR peak intensities and ²⁷Al chemical shifts for a wide range of boroaluminate glass compositions.     

Effects of Temperature and Strain Rate on the Plastic Deformation of Fully Dense Polycrystalline Y1Ba2Cu3O7−x Superconductor

The knowledge of the steady-state stress for plastic deformation as a function of temperature and strain rate is essential for hot-forming superconducting material into commercially useful shapes. In this paper, results are presented on the experimental determination of the rheology of fully dense polycrystalline Y₁Ba₂Cu₃O_7−x superconducting material at temperatures ranging from 750° to 950°C and strain rates of 10⁻⁴, 10⁻⁵, and 10⁻⁶ s⁻¹. The data are best fitted by a power law: ε(s⁻¹)=8.9 × 10⁻¹⁷. (s⁻¹) σ^2.5 (Pa) exp [−2.01 × 10⁵(J·mol⁻¹)|RT]. X-ray analysis shows that the superconducting material retains its phase composition after nearly 70% total strain of the sample. A strong anisotropy in the resistivity of the deformed samples is observed because of the development of a preferred orientation of the a or b axis of Y₁Ba₂Cu₃O_7−x orthorhombic perovskite single crystals perpendicular to the principal maximum compressive stress.     

The preparation and characterization of the methoxy derivatives of polyunsaturated fatty acids: Stabilized product analogs of lipoxygenase catalysis

The products from the action of soybean lipoxygenase on a series of polyunsaturated fatty acids have been converted in 2 steps into the corresponding methoxy derivatives. The product hydroperoxides were reduced in situ to alcohols with sodium borohydride. The ethers were generated by treatment of the alcohols with sodium hydride and methyl iodide in tetrahydrofuran. 13-Methoxy-9(Z),11(E)-octadecadienoic, 15-methoxy-11(Z),13(E)-eicosadienoic and 15-methoxy-5(Z),8(Z),11(Z), 13(E)-eicosatetraenoic acids were thus prepared. The methyl ethers were analyzed and the structures established by high performance liquid chromatography, nuclear magnetic resonance and infrared spectrometry, polarimetry and mass spectroscopy (as methyl esters). The methylation reaction proceeds without molecular rearrangements or racemiziation.