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Design and analysis of multistage adaptive lateral deformation tracked robot
Yidong Bai,Lingyu Sun,Minglu Zhang 대한기계학회 2022 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.36 No.1
A multistage adaptive lateral deformation tracked robot is proposed based on module design. The mechanical structures of lateral and tracked deformations are established by analyzing the constraints of space barriers and the elastic potential energy change mechanism of internal storage. The interaction of the operating environment and the mechanism is analyzed during the deformation process, and the internal potential energy change mechanism is optimized using the NSGA-II algorithm. The dynamic model is established in RecurDyn software, and the main modules and their coupling relationships are analyzed. Finally, the robot prototype is fabricated, and the obstacle surmounting performance and deformation mode are verified through experimental tests. For small robots, it has the advantages of large load, long driving distance, strong obstacle surmounting ability, and stable steering on the slope, and for robots with the same size, it can increase or decrease its width, has stronger terrain passability and environmental adaptability, so that it can operate in different scenarios within the same mission.
Minglu Zhang,Lingyue Zhang,Kaizong Lin,Yue Wang,Shaofeng Xu,Miao Bai,Hairong Jiang,Shuangling Wang,Yongjing Wang,Can Zhang 대한환경공학회 2023 Environmental Engineering Research Vol.28 No.4
The spread of antibiotic resistance genes (ARGs) caused by biofilm growth in drinking water distribution systems (DWDSs) poses a serious threat to human health. The influence of disinfection by-products (DBPs) on the distribution of ARGs and mobile genetic elements (MGEs) in different phases (biofilms and water) of DWDSs is unclear. In this study, the characteristics of microbial indices, trihalomethanes (THMs), haloacetic acids (HAAs), ARGs and MGEs in biofilms and effluents of simulated DWDS reactors were detected during 150 d of operation. During the mature biofilm periods of 90 d or 120 d, for both biofilms and effluents, seven categories of ARGs (except tetracycline) and MGEs were at their highest and lowest relative abundance in the entire operation cycle, respectively. The influence of DBPs on ARGs and MGEs in the DWDS was different in different phases. In effluents, DBPs showed a stronger relationship with ARGs compared with MGEs. THMs and HAAs had positive correlations with various ARGs, which indicated that DBPs affected the distribution of resistance genes. In biofilms, the influence of MGEs on ARGs was stronger than that of DBPs on ARGs. Thus, DBPs might be an important contributor to the enrichment and spread of ARGs in water.
( Zhen Cao ),( Ce Dou ),( Jianmei Li ),( Xiangyu Tang ),( Junyu Xiang ),( Chunrong Zhao ),( Lingyu Zhu ),( Yun Bai ),( Qiang Xiang ),( Shiwu Dong ) 생화학분자생물학회 2016 BMB Reports Vol.49 No.10
Mesenchymal stem cells (MSCs) are widely used in cartilage tissue engineering to repair articular cartilage defects. However, hypertrophy of chondrocytes derived from MSCs might hinder the stabilization of hyaline cartilage. Thus, it is very important to find a suitable way to maintain the chondrogenic phenotype of chondrocytes. It has been reported that cordycepin has anti-inflammatory and anti-tumor functions. However, the role of cordycepin in chondrocyte hypertrophy remains unclear. Therefore, the objective of this study was to determine the effect of cordycepin on chondrogenesis and chondrocyte hypertrophy in MSCs and ATDC5 cells. Cordycepin upregulated chondrogenic markers including Sox9 and collagen type II while down-regulated hypertrophic markers including Runx2 and collagen type X. Further exploration showed that cordycepin promoted chondrogenesis through inhibiting Nrf2 while activating BMP signaling. Besides, cordycepin suppressed chondrocyte hypertrophy through PI3K/Bapx1 pathway and Notch signaling. Our results indicated cordycepin had the potential to maintain chondrocyte phenotype and reconstruct engineered cartilage. [BMB Reports 2016; 49(10): 548-553]