We examined a new method for visualization of the primo vascular system in the rat brain involving lateral ventricle injection of trypan blue. Results showed that the primo vascular system in the lateral ventricles an...We examined a new method for visualization of the primo vascular system in the rat brain involving lateral ventricle injection of trypan blue. Results showed that the primo vascular system in the lateral ventricles and arachnoid mater of the brain were preferentially stained relative to blood vessels and fascia. The primo-vessels along blood vessels in the brain were clearly exhibited. In addition, the primo vascular system was evident between the fourth ventricle and the quadrigeminal cistern. Our experimental findings indicate that this new technique of lateral ventricle injection of trypan blue can visualize the primo vascular system in lateral ventricles and arachnoid mater of rats in situ.展开更多
Passive dynamics is always one of research emphases of the legged robots. Studies have proved that cheetah robot could achieve stably passive bounding motion under proper initial conditions in the ideal case. However,...Passive dynamics is always one of research emphases of the legged robots. Studies have proved that cheetah robot could achieve stably passive bounding motion under proper initial conditions in the ideal case. However, the actual robot must have energy dissipation because of friction and collision compared with the theoretical model. This paper aims to propose a control method that can drive the cheetah robot running in passive bounding gait. First, a sagittal-plane model with a rigid torso and two compliant legs is introduced to capture the dynamics of robot bounding. Numerical return map studies of the bounding model reveal that there exists a large variety of passively cyclic bounding motions （fixed points）. Based on the distribution law of fixed points, an open-loop control method including touchdown angle control strategy and leg length control strategy is put forward. At last, prototype of the cheetah robot is designed and manufactured, and locomotion experiment are carried out. The experiment results show that the cheetah robot can achieve a stable bounding motion at different speeds with the proposed control method.展开更多
基金the National Natural Science Foundation of China for Youths (General Program),No.30801464the National Basic Research Program of China (973 Program),No.2007CB512705the GIST Systems Biology Program of Korea in 2010
文摘We examined a new method for visualization of the primo vascular system in the rat brain involving lateral ventricle injection of trypan blue. Results showed that the primo vascular system in the lateral ventricles and arachnoid mater of the brain were preferentially stained relative to blood vessels and fascia. The primo-vessels along blood vessels in the brain were clearly exhibited. In addition, the primo vascular system was evident between the fourth ventricle and the quadrigeminal cistern. Our experimental findings indicate that this new technique of lateral ventricle injection of trypan blue can visualize the primo vascular system in lateral ventricles and arachnoid mater of rats in situ.
基金Acknowledgment This work is supported by the National Natural Science Foundation of China （Grant No： 51205145）, the National Basic Research Program of China （Grant No： 2013CB035805） and Graduates＇ Innovation Fund of Huazhong University of Science ＆ Technology （Grant No： 01-09-070092）.
文摘Passive dynamics is always one of research emphases of the legged robots. Studies have proved that cheetah robot could achieve stably passive bounding motion under proper initial conditions in the ideal case. However, the actual robot must have energy dissipation because of friction and collision compared with the theoretical model. This paper aims to propose a control method that can drive the cheetah robot running in passive bounding gait. First, a sagittal-plane model with a rigid torso and two compliant legs is introduced to capture the dynamics of robot bounding. Numerical return map studies of the bounding model reveal that there exists a large variety of passively cyclic bounding motions （fixed points）. Based on the distribution law of fixed points, an open-loop control method including touchdown angle control strategy and leg length control strategy is put forward. At last, prototype of the cheetah robot is designed and manufactured, and locomotion experiment are carried out. The experiment results show that the cheetah robot can achieve a stable bounding motion at different speeds with the proposed control method.
