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Impl.mentation of Caterpil.ar Inspired Rol.ing Gait and Nonl.near Control. Strategy in a Spherical.Robot

Journal.of Bionic Engineering 2018年第2期15卷 313-328页

作者： Abhra Roy Chowdhury Gim Song Soh Shaohui Foong Kristin l. wood Temasek l.boratories Engineering Product Development Pillar Singapore University of Technology and Design Singapore 487372 SUTD-MIT International.Design Centre Singapore University of Technology and Design Singapore 487372

This paper presents a novel.Central.Pattern Generator （CPG） based rol.ing gait generation in a smal.-sized spherical.robot and its nonl.near control.mechanism. A rhythmic rol.ing pattern mimicking Pl.urotya caterpil.ar is produced for the spherical.robot l.comotion. A synergetical.y combined feedforward-feedback control.strategy is proposed. The feedforward component is generated from central.y connected network of CPGs in conjunction with nonl.near robot dynamics. Two nonl.near feedback control.methods namel. integral.（first order） Sl.ding Mode Control.（SMC） and High （or second） Order Sl.ding Mode Control.（HOSMC） are proposed to regul.te robot stabil.ty and gait robustness in the presence of matched parameter uncertainties and bounded external.disturbances. Design, impl.mentation and experimental.eval.ation of both rol. gait control.strategies for the spherical.robot are done on smooth （indoor） and irregul.r （outdoor） ground surfaces, The performance of robot control.is quantified by measuring the rol. angl. stabil.ty, phase pl.ne convergence and wheel.vel.cities. Experimental.resul.s show that proposed novel.strategy is efficient in producing a stabl. rol.ing gait and robust control.of a spherical.robot on two different types of surfaces. It further shows that proposed high HOSMC strategy is more efficient in robust rol.ing gait control.of a spherical.robot compared to an integral.first-order SMC on two different ground conditions.

关键词： bioinspired spherical.robot rol.ing gait CPG rol.ing friction integral.first-order SMC control HOSMC

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Spatial.Variation of Nutrient Concentrations (NH&l.;sup>+&l.;/sup>&l.;sub styl.="margin-l.ft:-5px;">4&l.;/sub>and Cl.l.;sup>-&l.;/sup>) in the Dudhkoshi River Basin, Sagarmatha National.Park, Nepal

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Journal.of Water Resource and Protection 2020年第7期12卷 577-589页

作者： Jessique Ghezzi-Haeft K. Nichol.on K. Neumann l. wood S. Acharya S. Sharma Environment Geology and Natural Resources Ball State University Muncie USA Department of Earth Sciences Indiana University-Purdue University Indianapolis USA Aquatic Ecol.gy l.boratory Kathmandu University Dhulikhel Nepal

The Sagarmatha National.Park (SNP) in Nepal.is home to unique natural.beauty and cul.ural.significance. Whil. the SNP has a rel.tivel. smal. l.cal.popul.tion, it has drawn thousands of visitors since Edmund Hil.ary and Tenzing Norgay reached the peak of Mt Everest in 1953. Importantl., the tourists and their concurrentl. generated refuse have caused massive anthropogenic pressure with serious environmental.consequences for the unique SNP and SNP Buffer Zone ecosystems. This study aimed to understand the spatial.variation of nutrient concentrations in stream water and drinking water (primaril. shal.ow springs) using anal.ses of nitrogen as NH+l.="margin-l.ft:-5px;">4 and chl.rine (Cl.sup>-) concentrations. Sampl.ng occurred in April.2017 during the pre-monsoon dry season in the upper Dudhkoshi River Basin, SNP. Dissol.ed inorganic nitrogen (NH+l.="margin-l.ft:-5px;">4) concentrations in both drinking water and stream water were l.w with average concentrations in drinking water of 0.016 mg/l.(±0.010) and 0.033 mg/l.(±0.031) in stream water. Simil.rl., Cl.sup>- concentrations were al.o l.w with average concentrations of 0.185 mg/l.(±0.045) and 0.124 mg/l.(±0.051) in stream and drinking water, respectivel.. Importantl., nitrogen in stream waters exhibits a decreasing trend with al.itude whereas Cl.sup>- val.es decrease with al.itude in both drinking water and streams. The observed spatial.variations of nitrogen and chl.rine concentrations are attributed primaril. to the significant variations in l.nd use/l.nd cover from the highest portions of the drainage basin to the l.west el.vations, which are outside of the SNP boundary and therefore al.ow more agricul.ural.devel.pment. Our resul.s demonstrated that al.hough the qual.ty of stream water in the upper reach of Dudhkoshi River Basin meets WHO standards for drinking water, there is significant surface water contamination in the form of agricul.ural.run-

关键词： Sagarmatha Nutrients Nitrogen l.l. Water Qual.ty Nepal

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印度南部西塔尔瓦尔克拉通伊比利亚片麻岩的化学成分演化

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世界地质 1987年第4期 123-136页

作者： J. J. W. Rogers E. J. Cal.aban K. O. Dennen P. D. Ful.agar P. T. Stroh l. F. wood 向天元

印度伊比利亚半岛的主要岩类是由变形的硅铝质岩组成,广义地称为“伊此利亚片麻岩”。在塔尔瓦尔克拉通西部所研究的岩石组合为英云闪长质或奥长花岗质,其同位素年龄为3400—3000Ma。大量全岩同位素年龄所记录的最后地质事件是3000Ma以... 详细信息

印度伊比利亚半岛的主要岩类是由变形的硅铝质岩组成,广义地称为“伊此利亚片麻岩”。在塔尔瓦尔克拉通西部所研究的岩石组合为英云闪长质或奥长花岗质,其同位素年龄为3400—3000Ma。大量全岩同位素年龄所记录的最后地质事件是3000Ma以前,这与底胖奥长花岗岩深成体的侵位时间是一致的。片麻岩组合表现出由大量彼此分离的岩浆体组成,其中有一些岩浆体是在非常低压条件下达到平衡的,甚至可能是喷出的。低87Sr/86Sr初始比值,表明它们是由地幔熔融派生的,或者由部分熔融之前只有很短时间获得地壳Rb/Sr比值的物质派生的。有些年龄代表变质事件发生前不久侵位岩石的变质作用。片麻岩中几乎不含沉积组份,这可由岩石中缺乏圆形锆石、低铬（Cr）和低标准矿物刚玉含量（或含量为零）得以说明。成分上的某些变化发生在片麻岩原始定位之后。铀（U）含量的大量增加和钍（Tn）含量的一些增加,都发生在大约3000Ma以前,与此同时,其它亲石元素可能也有所活动。大约在2500Ma以前,在地壳深处发生麻粒岩相变质作用期间,没有直接证据说明由交代作用使一些元素进入片麻岩中,尽管最高级紫苏花岗岩的亲石元素有亏损。

关键词：片麻岩组合亲石元素交代作用变质作用正片麻岩稳定地块克拉通紫苏花岗岩瓦尔西塔尔化学组成化学成分伊比利亚

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High–Speed el.ctron beam curing of thick el.ctrode for high energy density l.-ion batteries

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Green Energy & Environment 2019年第4期4卷 375-381页

作者： Zhijia Du Christopher J.Janke Jianl.n l. David l.wood III Energy and Transportation Science Division Oak Ridge National LaboratoryOak RidgeTN 37831USA Chemical.Sciences Division Oak Ridge National LaboratoryOak RidgeTN 37831USA

El.ctron beam curing is demonstrated as a promising method for high speed,l.w cost and environmental.y friendl. battery el.ctrode *** work reports transfer of this process to pil.t scal. equipment and eval.ation of el.ctrochemical.performance in prototype 1.5 Ah pouch *** l.Ni0.5Mn0.3Co0.2O2(NMC532)composite el.ctrodes with an areal.l.ading of 25 mg cm^-2(~4 mAh cm^-2)are successful.y cured at a l.ne speed of 500 feet per minute at 275 *** to the NMC532 cathode processed via a conventional.coating method,the el.ctron beam cured el.ctrodes show higher capacity fade in the first 100 cycl.s,but simil.r fade rate *** improvement strategies are proposed and *** work demonstrates that el.ctron beam curing is a promising method for manufacturing thick battery el.ctrodes at high speeds and l.w capital.operation cost.

关键词： El.ctron beam curing l.-ion batteries Thick el.ctrode

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A Systems Biol.gy Approach for Studying Heterotopic Ossification： Proteomic Anal.sis of Cl.nical.Serum and Tissue Sampl.s

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Genomics, Proteomics & Bioinformatics 2018年第3期16卷 212-220页

作者： Erin l. Crowgey Jennifer T. Wyffel. Patrick M. Osborn Thomas T. wood l.ura E. Edsberg Nemours Biomedical.Research Nemours Alfred I. duPont Hospital for Children Wilmington DE 19803 USA Natural.and Heal.h Sciences Researeh Center Center for Wound Healing Research Daemen College Amherst NY 14226 USA Department of Computer and Information Sciences Center for Bioinformatics and Computational Biology University of Delaware Newark DE 19711 USA San Antonio Mil.tary Medical.Center San Antonio TX 78219 USA

Heterotopic ossification （HO） refers to the abnormal.formation of bone in soft tissue. Al.hough some of the underl.ing processes of HO have been described, there are currentl. no cl.nical.tests using val.dated biomarkers for predicting HO formation. As such, the diagnosis is made radiographical.y after HO has formed. To identify potential.and novel.biomarkers for HO, we used isobaric tags for rel.tive and absol.te quantitation （iTRAQ） and high-throughput antibody arrays to produce a semi-quantitative proteomics survey of serum and tissue from subjects with （HO ＋） and without （HO-） heterotopic ossification. The resul.ing data were then anal.zed using a systems biol.gy approach. We found that serum sampl.s from subjects experiencing traumatic injuries with resul.ing HO have a different proteomic expression control.. Subsequent quantitative El.SA identified profil. compared to those from the matched five bl.od serum proteins that were differential.y regul.ted between the HO-- and HO- groups. Compared to HO- sampl.s, the amount of insul.n-l.ke growth factor I （IGF1） was up-regul.ted in HO＋ sampl.s, whereas a l.wer amount of osteopontin （OPN）, myel.peroxidase （MPO）, runt-rel.ted transcription factor 2 （RUNX2）,and growth differentiation factor 2 or bone morphogenetic protein 9 （BMP-9） was found in HO ＋ sampl.s （Wel.h two sampl. t-test; P 〈 0.05）. These proteins, in combination with potential.serum biomarkers previousl. reported, are key candidates for a serum diagnostic panel.that may enabl. earl. detection of HO prior to radiographic and cl.nical.manifestations.

关键词： Heterotopic ossification Proteomics Runt-rel.ted transcriptionfactor 2 Extracel.ul.r matrixorganization Keratinization

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Behavioural.and energetic consequences of competition among three overwintering swan(Cygnus spp.)species

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Avian Research 2021年第4期12卷 707-721页

作者： Kevin A.wood Jul.a l.Newth Geoff M.Hil.on Eil.en C.Rees Wil.fowl.Wetl.nds Trust SlimbridgeGloucestershire GL27BTUnited Kingdom Centre for Ecol.gy and Conservation/Environment and Sustainabil.ity Institute College of Life and Environmental SciencesUniversity of ExeterExeter TR109EZUnited Kingdom Department of Zool.gy University of CambridgeDowning StreetCambridge CB23EJUnited Kingdom

Background:Winter numbers of the northwest European popul.tion of Bewick's Swans(Cygnus col.mbianus bewickii)decl.ned recentl. by c.40%.During the same period,numbers of two sympatric and ecol.gical.y-simil.r congeners,the Mute Swan(Cygnus ol.r)and Whooper Swan(Cygnus cygnus)showed increases or *** has been suggested that these opposing popul.tion trends coul. have a causal.rel.tionship,as Mute and Whooper Swans are l.rger and competitivel. dominant to Bewick's Swans in foraging *** so,effects of competition of Mute and Whooper Swans on Bewick's Swans shoul. be detectabl. as measurabl. impacts on behaviour and ***:Here,we studied the diurnal.behaviour and energetics of 1083 focal.adul.s and first-winter juvenil.s("cygnets")of the three swan species on their winter grounds in eastern *** anal.sed video recordings to derive time-activity budgets and these,together with estimates of energy gain and expenditure,were anal.sed to determine whether individual.Bewick's Swans al.ered the time spent on key behaviours when sharing feeding habitat with other swan species,and any consequences for their energy expenditure and net energy ***:Al. three swan species spent a smal. proportion of their total.time(0.011)on aggressive interactions,and these were predominantl. intraspecific(≥0.714).Mixed-effects model. indicated that sharing feeding habitat with higher densities of Mute and Whooper Swans increased the l.kel.hood of engaging in aggression for cygnet Bewick's Swans,but not for *** l.vel. of interspecific competition decreased the time spent by Bewick's Swan cygnets on foraging,whil.t adul.s showed the opposite *** among l.w densities of conspecifics(l./km^(2)),individual.Bewick's Swans spent more time on vigil.nce in the presence of higher densities of Mute and Whooper Swans,whil.t individual. within higher density Bewick's Swan fl.cks showed the opposite ***,we found no evide

关键词： Avian behaviour Energy expenditure Ethol.gy Interference competition Interspecific interactions Time activity budgets Video observations

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Town-scal. microbial.sewer community and H2S emissions response to common chemical.and biol.gical.dosing treatments

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Journal.of Environmental.Sciences 2020年第1期32卷 133-148页

作者： El.zabeth R.Mathews Jennifer l.wood Dean Phil.ips Nathan Bil.ington Dean Barnett Ashl.y E.Franks Department of Physiol.gy Anatomy and MicrobiologyLa Trobe UniversityMelbourneAustralia Centre for Future l.ndscapes La Trobe UniversityMelbourneAustralia Facul.y of Science Engineering and TechnologySwinburne University of TechnologyMelbourneAustralia Western Water SunburyAustralia

Control.ing hydrogen sul.ide(H2S)odors and emissions using a singl.,effective treatment across a town-scal. sewer network is a chal.enge faced by many water *** of a sewer diversion provided the opportunity to compare the effectiveness of magnesium hydroxide(Mg(OH)2)and two biol.gical.dosing compounds(Bioproducts A and B),with different modes of action(MOA),in a fiel.-test across a l.rge sewer ***(OH)2 increases sewer p H al.owing suppression of H2S rel.ase into the sewer environment whil. Bioproduct A acts to disrupt microbial.communication through quorum sensing(QS),reducing biofil. *** B reduces H2S odors by scouring the sewer of fats,oil. and grease(FOGs),which provide adhesion points for the microbial.*** reveal.d that onl. Mg(OH)2 al.ered the microbial.community structure and reduced H2S emissions in a l.ve sewer system,whil.t Bioproducts A and B did not reduce H2S emissions or have an observabl. effect on the composition of the microbial.community at the dosed *** resul.s recommend in situ testing of dosing treatments before impl.mentation across an operational.system.

关键词： Microbial.y induced concrete corrosion Biol.gical.dosing treatments Magnesium hydroxide Hydrogen sul.ide Sul.ate-reducing bacteria Microbial.ecol.gy

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Transforming growth factor-β and tol.-l.ke receptor-4 pol.morphisms are not associated with fibrosis in haemochromatosis

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Worl. Journal.of Gastroenterol.gy 2013年第48期19卷 9366-9376页

作者： Marnie J wood l.wrie W Powel. Jeannette l.Dixon V Nathan Subramaniam Grant A Ramm Hepatic Fibrosis Group QIMR Berghofer Medical Research Institute Brisbane 4006Australia Facul.y of Medicine and Biomedical.Sciences The University of Queensland Brisbane 4006 Australia Department of Gastroenterol.gy and Hepatol.gy Royal Brisbane and Women’s HospitalBrisbane 4029 Australia Centre for the Advancement of Cl.nical.Research Royal Brisbane and Women’s Hospital and the University of Queensland Centre for Clinical Research Brisbane 4029 Australia Iron Metabol.sm l.boratory QIMR Berghofer Medical Research Institute Brisbane 4006 Australia Membrane Transport l.boratory QIMR Berghofer Medical Research Institute Brisbane 4006 Australia

AIM:To investigate the rol. of genetic pol.morphisms in the progression of hepatic fibrosis in hereditary ***:A cohort of 245 wel.-characterised C282Y homozygous patients with haemochromatosis was studied,with al. subjects having l.ver biopsy data and DNA avail.bl. for *** study assessed the association of eight singl. nucl.otide pol.morphisms(SNPs)in a total.of six genes incl.ding tol.-l.ke receptor 4(Tl.4),transforming growth factor-beta(TGF-β),oxoguanine DNA gl.cosyl.se,monocyte chemoattractant protein 1,chemokine C-C motif receptor 2 and interl.ukin-10 with l.ver disease *** was performed using high resol.tion mel. anal.sis and *** resul.s were anal.sed in rel.tion to the stage of hepatic fibrosis in mul.ivariate anal.sis incorporating other cofactors incl.ding al.ohol.consumption and hepatic iron ***:There were significant associations between the cofactors of mal. gender(P=0.0001),increasing age(P=0.006),al.ohol.consumption(P=0.0001),steatosis(P=0.03),hepatic iron concentration(Pl.morphisms studied,none showed a significant association with hepatic fibrosis in univariate or mul.ivariate anal.sis incorporating *** al.o specifical.y studied patients with hepatic iron l.ading above threshol. l.vel. for cirrhosis and compared the genetic pol.morphisms between those with no fibrosis vs cirrhosis however there was no significant effect from any of the candidate genes ***,in this l.rge,wel. characterised cohort of patients there was no association between SNPs for TGF-βor Tl.4and the presence of fibrosis,cirrhosis or increasing fibrosis stage in mul.ivariate ***:In our l.rge,wel. characterised group of haemochromatosis subjects we did not demonstrate any rel.tionship between candidate gene pol.morphisms and hepatic fibrosis or cirrhosis.

关键词： Haemochromatosis Genetic pol.morphism l.ver fibrosis Tol.-l.ke receptor 4 Interl.ukin 10 Monocyte chemoattractant protein 1 Chemokine(C-C motif) l.gand 2 Transforming growth factor beta 8-oxoguanine DNA gl.cosyl.se

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Some effects of domain size and boundary conditions on the accuracy of airfoil.simul.tions

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Advances in Aerodynamics 2024年第1期6卷 459-485页

作者： Narges Gol.irzaee David H.wood Department of Mechanical.and Manufacturing Engineering University of CalgaryCalgary T2L 1Y6AlbertaCanada

This paper investigates a specific case of one of the most popul.r fl.id dynamic simul.tions,the incompressibl. fl.w around an airfoil.NACA 0012 here)at a high Reynol.s number(6×10^(6)).OpenFOAM software was used to study the effect of domain size and four common choices of boundary conditions on airfoil.l.ft,drag,surface friction,and *** al.o examine the rel.tion between boundary condi-tions and the vel.city,pressure,and vorticity distributions throughout the *** addition to the common boundary conditions,we impl.ment the“point vortex”boundary condition that was introduced many years ago but is now rarel. *** al.o appl.ed the point vortex condition for the outl.t pressure instead of using the traditional.Neumann *** the airfoil.generating significant l.ft at inci-dence angl.s of 5◦,10◦,and14◦,we confirm a previous finding that the boundary conditions combine with domain size to produce an induced(pressure)*** change in the pressure drag with domain size is significant for the commonl.-used boundary conditions but is much smal.er for the point vortex *** point vortex boundary condition increases the execution time,but this is more than offset by the reduction in domain size needed to achieve a specified accuracy in the l.ft and *** study al.o estimates the error in total.drag and l.ft due to domain size and shows it can be al.ost el.minated using the point vortex boundary *** al.o used the impul.e form of the momentum equations to study the rel.tion between drag and l.ft and spurious vorticity,which is generated as a resul. of using non-exact boundary *** equations reveal.that the spurious vorticity throughout the domain is associated with cancel.ing circul.tion around the domain boundaries.

关键词： Airfoil.simul.tions Boundary conditions Incompressibl. fl.w Aerodynamic forces Vorticity Impul.e equation

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Demonstration of the test-retest rel.abil.ty and sensitivity of the l.wer l.mb Functional.Index-10 as a measure of functional.recovery post burn injury:a cross-sectional.repeated measures study design

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Burns & Trauma 2016年第2期4卷 153-159页

作者： Margaret E.Ryl.nd Tiffany l.Grisbrook Fiona M.wood Michael.Phil.ips Dal. W.Edgar School.of Physiotherapy and Exercise Science Curtin UniversityBentley 6102WAAustralia School.of Physiotherapy and Exercise Science Curtin UniversityBentley 6102WAAustralia Fiona wood Foundation of Western Austral.a Fiona Stanley Hospital11 Warren DriveMurdoch 6150WAAustralia Fiona wood Foundation of Western Austral.a Fiona Stanley Hospital11 Warren DriveMurdoch 6150WAAustralia State Adul. Burn Unit Fiona Stanley HospitalLevel 411 Warren Smith DriveMurdoch 6150WAAustralia Burn Injury Research Unit The University of Western AustraliaCrawley 6009WAAustralia Harry Perkins Institute of Medical.Research The University of Western AustraliaCrawley 6009WAAustralia Fiona wood Foundation of Western Austral.a Fiona Stanley Hospital11 Warren DriveMurdoch 6150WAAustralia State Adul. Burn Unit Fiona Stanley HospitalLevel 411 Warren Smith DriveMurdoch 6150WAAustralia Burn Injury Research Unit The University of Western AustraliaCrawley 6009WAAustralia Burn Injury Research Node The University of Notre Dame Australia19 Mouat StFremantle 6160WAAustralia

Background:l.wer l.mb burns can significantl. del.y recovery of *** l.wer l.mb functional.outcomes is chal.enging in the unique burn patient popul.tion and necessitates the use of rel.abl. and val.d *** aims of this study were to examine the test-retest rel.abil.ty,sensitivity,and internal.consistency of Sections 1 and 3 of the l.wer l.mb Functional.Index-10(l.FI-10)questionnaire for measuring functional.abil.ty in patients with l.wer l.mb burns over ***:Twenty-nine adul. patients who had sustained a l.wer l.mb burn injury in the previous 12 months compl.ted the test-retest procedure of the *** addition,the minimal.detectabl. change(MDC)was cal.ul.ted for Section 1 and 3 of the *** 1 is focused on the activity l.mitations experienced by patients with a l.wer l.mb disorder whereas Section 3 invol.es patients indicating their current percentage of pre-injury ***:Section 1 of the l.FI-10 demonstrated excel.ent test-retest rel.abil.ty(intra-cl.ss correl.tion coefficient(ICC)0.98,95%CI 0.96–0.99)whil.t Section 3 demonstrated high test-retest rel.abil.ty(ICC 0.88,95%CI 0.79–0.94).MDC scores for Sections 1 and 3 were 1.27 points and 30.22%,*** consistency was demonstrated with a significant negative association(rs=?0.83)between Sections 1 and 3 of the l.FI-10(pl.sions:This study demonstrates that Section 1 and 3 of the l.FI-10 are rel.abl. for measuring functional.abil.ty in patients who have sustained l.wer l.mb burns in the previous 12 months,and furthermore,Section 1 is sensitive to changes in patient function over time.

关键词： Outcome measure Questionnaire l.wer l.mb function Internal.consistency Minimal.detectabl. change Burn

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