Toward a human-like biped robot with compliant legs

Conventional models of bipedal walking generally assume rigid body structures, while elastic material properties seem to play an essential role in nature. On the basis of a novel theoretical model of bipedal walking, this paper investigates a model of biped robot which makes use of minimum control and elastic passive joints inspired from the structures of biological systems. The model is evaluated in simulation and a physical robotic platform by analyzing the kinematics and ground reaction force. The experimental results show that, with a proper leg design of passive dynamics and elasticity, an attractor state of human-like walking gait patterns can be achieved through extremely simple control without sensory feedback. The detailed analysis also explains how the dynamic human-like gait can contribute to adaptive biped walking.     

A conserved mode of head segmentation in arthropods revealed by the expression pattern of Hox genes in a spider

Chelicerates constitute a basic arthropod group with fossil representatives from as early as the Cambrian period. Embryonic development and the subdivision of the segmented body region into a prosoma and an opisthosoma are very similar in all extant chelicerates. The mode of head segmentation, however, has long been controversial. Although all other arthropod groups show a subdivision of the head region into six segments, the chelicerates are thought to have the first antennal segment missing. To examine this problem on a molecular level, we have compared the expression pattern of Hox genes in the spider Cupiennius salei with the pattern known from insects. Surprisingly, we find that the anterior expression borders of the Hox genes are in the same register and the same relative segmental position as in Drosophila. This contradicts the view that the homologue of the first antennal segment is absent in the spider. Instead, our data suggest that the cheliceral segment is homologous to the first antennal segment and the pedipalpal segment is homologous to the second antennal (or intercalary) segment in arthropods. Our finding implies that chelicerates, myriapods, crustaceans, and insects share a single mode of head segmentation, reinforcing the argument for a monophyletic origin of the arthropods.     

Continuous analysis in extracorporeally circulating blood--a rat model applying flow-through ion-selective electrodes for the measurement of Ca2+, K+, Na+ and pH

A rat model is introduced which enables investigations in anticoagulated blood with continuous measurements by a flow-through electrode system. In the present study, a potentiometric ion-selective electrode (ISE)-system was used for measuring Ca2+, K+, Na+ and pH in rats. The setup was adjusted to an extracorporeal blood-volume of 0.750 ml. This permits indirect measurements of the analytes via a dialysis membrane, with electrical separation of the ISE's and the animal. The flow-rates of blood and dialysis-solution were adjusted in such a way that water diffusing from the aqueous dialysis solution into the blood, across the dialysis membrane, does not alter the haematocrit. Polyethyleneglycol-hirudin was used for anticoagulation, since it was superior to heparin. The assembly enables continuous measurements in the living anaesthetized rat over a time period of at least 3 hours.     

Peripheral synapses at identified mechanosensory neurons in spiders: three-dimensional reconstruction and GABA immunocytochemistry

The mechanosensory organs of arachnids receive diverse peripheral inputs. Little is known about the origin, distribution, and function of these chemical synapses, which we examined in lyriform slit sense organ VS-3 of the spider Cupiennius salei. The cuticular slits of this organ are each associated with two large bipolar mechanosensory neurons with different adaptation rates. With intracellular recording, we have now been able to correlate directly the staining intensity of a neuron for acetylcholinesterase with its adaptation rate, thus allowing us simply to stain a neuron to identify its functional type. All rapidly adapting neurons stain more heavily than slowly adapting neurons. Immunostaining of whole-mount preparations reveals GABA-like immunoreactive fibers forming numerous varicosities at the surface of all sensory neurons in VS-3; peripheral GABA-like immunoreactive somata are lacking. Sectioning the leg nerve procures rapid degeneration of most fiber profiles, confirming that the fibers are efferent. Punctate synapsin-like immunoreactivity colocalizes to these varicosities, although some synapsin-like immunoreactive puncta are GABA-immunonegative. Fibers with similar immunoreactivities are also associated with trichobothria, tactile hairs, internal joint receptors, i.e. other types of spider mechanosensory organs. In organ VS-3, immunoreactivity is most dense across the initial axon segment. The exact distribution of peripheral synapses was reconstructed from a 10-microm-long electron micrograph series of the dendritic, somatic, and initial axon regions of acetylcholinesterase-stained VS-3 neurons. These reveal a pattern similar to that of the synapsin-like immunoreactivity. Two different types of synapse were distinguished on the basis of their presynaptic vesicle populations. Many peripheral synapses thus appear to derive from efferent GABA-like immunoreactive fibers and probably provide centrifugal inhibitory control of primary mechanosensory activities.     

Conceptual semantics in a nonhuman primate.

Some animal vocalizations have been described as referential, or semantic, because individuals respond to them as if they designate some object or event. Alternatively, subjects may simply attend to the acoustic features of calls rather than their meanings. Field playback experiments on diana monkeys (Cercopithecus diana diana) tested these hypotheses using the calls of leopards and eagles and the males' alarm calls to these predators. In the experiment, 2 calls were played in sequence, separated by 5 min of silence, such that they were either (a) similar in acoustic and semantic features, (b) similar in semantic features only, or (c) different in both acoustic and semantic features. Subjects readily transferred habituation across acoustic but not semantic features, suggesting that they attended to the calls' underlying meanings. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Zum Korrosionsverhalten von SF-Kupfer mit und ohne Wärmetausch in Wässern

Corrosion Behaviour of Copper in Water-Systems and in the Case of Heat-Exchanging Conditions Firstly the wellknown theories of copper corrosion are described. The results of own examinations of copper tubes corroded by different tapwaters show, that in case of corrosion the reason is not to find in rests of cracked drawing compounds. The damages are released much more by bad soldered and brazed copper tubes. In this case (by the different reasons described) soldering flux gets into the copper tube and becomes cracked by the soldering temperature, and the line of attack at the tube wall (consisting of decomposition products from the soldering flux) is clearly to detect. Own laboratory tests with potential-current density studies (potentiostatic and potentiodynamic) show the following results: – At heat-exchanging conditions the mass loss is greater than in immersion tests. – The copper surface layer formation is very dependent from potential value. – The potential-current density of copper is very dependent from the water hardness.