Locomotion Paradigms of Topological Space in Shakespeare’s Double Falsehood

In the 16th and 17th century,Britain was constantly strained by sporadic plagues,famines,fires and political conflicts.As a response in literature,Shakespeare has constructed an annular locomotion paradigm in Fletcher and his collaboration work Cardenio.Be more specific,the locomotion routes can be exemplified in Möbius strip,a rhizome system,a reciprocating juxtaposition between the foreground and the background,either of which finally runs to an annular schema.The annular in narration corresponds with The Globe theater and the round world.Shakespeare may express his expectation and prospect for the uprising bourgeoise and the newly found world by the resurrection theme in literature.

Behaviours in Attachment-Detachment Cycles of Geckos in Response to Inclines and Locomotion Orientations

Geckos can move quickly in various environments by efficiently controlling their complex adhesive toe pads.The locomotion behaviours observed in the attachment-detachment(A-D)cycle of their toe pads in response to changes in their environment should be studied to understand the adaptive behavioural characteristics of such toe pads.The lack of systematic research on the entire A-D cycle,including the release,swing,contact,and adhesion stages,limits the comprehension of the adhesive locomotion mechanism.The A-D cycle of Gekko gecko that facilitates the foot locomotion on inclined and vertical surfaces was investigated to clarify the locomotion behaviours in different stages.Results show that the change trends of foot locomotor angles(yaw and pitch)during the entire A-D cycle remain unchanged in response to various substrates.The bending angles(fore 41°;hind 51°)and contact time percentages(fore 7.42%;hind 7.44%)in the contact stage as well as the forefoot angle ranges(yaw:163.09°;pitch:308.68°)in the A-D cycle also remain constant across all substrates.These invariant foot locomotion behaviours during the swing and contact stages suggest that the foot behaviours are weakly related to the forces acting on the foot,which change according to the environment.Furthermore,the forefoot and hindfoot have different anatomical structure and functional demands,thus,the angle range of forefoot locomotion is larger than that of hindfoot locomotion,and the pitch angle change trend of the forefoot is opposite to that of the hindfoot.The diverse and complex locomotion control of the adhesive toe pads for various environments is reduced by the consistent behaviours in the gecko’s A-D cycle,such as the constant postures in the swing and contact stages.This study provides insight into the adhesive locomotion mechanism of geckos and can facilitate further research on the effective design and control of adhesion robots.

Assessment of locomotion behavioral defects induced by acute toxicity from heavy metal exposure in nematode Caenorhabditis elegans

Locomotion behaviors are susceptible to disruption by a broad spectrum of chemicals and environmental stresses. However, no systematic testing of locomotion behavior defects induced by metal exposure has been conducted in the model organism of nematode Caenorhabditis elegans. In this study, the acute toxicity from heavy metal exposure on the locomotion behaviors was analyzed in nematodes. Endpoints of head thrash, body bend, forward turn, backward turn, and Omega/U turn were chosen to evaluate the locomotio...

Experimentation of Fish Swimming Based on Tracking Locomotion Locus

There are many kinds of swimming mode in the fish world, and we investigated two of them, used by cyprinids and bulltrout. In this paper we track the locomotion locus by marks in different flow velocity from 0.2 m·s^-1 to 0.8 m·s^-1. By fit the data above we could find out the locomotion mechanism of the two kinds of fish and generate a mathematical model of fish kine- matics. The cyprinid fish has a greater oscillation period and amplitude compared with the bulltrout, and the bulltrout changes velocity mainly by controlling frequency of oscillation.

Kinematics of Terrestrial Locomotion in Mole Cricket Gryllotalpa orientalis

The fore leg of mole cricket （Orthoptera： Glyllotalpidae） has developed into claw for digging and excavating. As the result of having a well-suited body and appendages for living underground, mole cricket still needs to manoeuvre on land in some cases with some kinds of gait. In this paper, the three-dimensional kinematics information of mole cricket in terrestrial walking was recorded by using a high speed 3D video recording system. The mode and the gait of the terrestrial walking mole cricket were investigated by analyzing the kinematics parameters, and the kinematics coupling disciplines of each limb and body were discussed. The results show that the locomotion gait of mole cricket in terrestrial walking belongs to a distinctive alternating tripod gait. We also found that the fore legs of a mole cricket are not as effective as that of common hexapod insects, its middle legs and body joints act more effective in walking and turning which compensate the function of fore legs. The terrestrial lo-comotion of mole cricket is the result of biological coupling of three pairs of legs, the distinctive alternating tripod gait and the trunk locomotion.

Differences in cocaine-induced place preference persistence, locomotion and social behaviors between C57BL/6J and BALB/cJ mice

C57BL/6J and BALB/cJ mice display significant differences in sociability and response to drugs, but the phenotypic variability of their susceptibility to cocaine is still not well known. In this study, the differences between these two mice strains in the persistence of cocaine-induced conditioned place preference （CPP）, as well as the locomotion and social behaviors after the 24-hour withdrawal from a four-day cocaine （20 mg/kg/day） administration were investigated. The results showed that the cocaine-induced CPP persisted over two weeks in C57BL/6J mice, while it diminished within one week among BALB/cJ mice. After 24-hours of cocaine withdrawal, high levels of locomotion as well as low levels of social interaction and aggressive behavior were found in C57BL/6J mice, but no significant changes were found in BALB/cJ mice, indicating that cocaine-induced CPP persistence, locomotion and social behavior are not consistent between these two strains, and that overall C57BL/6J mice are more susceptible to cocaine than BALB/cJ mice at the tested doses.

Investigation on Walking and Pacing Stability of German Shepherd Dog for Different Locomotion Speeds

The motion of three German Shepherd Dogs on a treadmill was recorded using a three-dimensional motion capture system. The locomotion speed of the dog was respectively set at 4km·h^-1, 5.5km·h^-1, 7 km·h^-1 and 8.5 km·h^-1. By processing the acquired data, the joint trajectories of the dogs＇ hind limbs were computed and a time series analysis was conducted. Joint angle-angle diagrams were obtained and the Lyapunov exponents were computed. Results show that the stability decreased when speed increased, which can be attributed to the decrease in the stance phase respect to the swing phase when speed is increased. Results also show that the dogs changed gait during the tests, namely walking in the range of 4 km·h^-1 to 7 km·h^-1 and pacing at 8.5 km·h^-1 A significant drop in stability was observed from walking to pacing.

Effect of lead on survival, locomotion and sperm morphology of Asian earthworm, Pheretima guillelmi

To provide basic toxicity data for formulating risk characterization benchmarks, the effects of lead on survival, locomotion, and sperm morphology were investigated in the Asian earthworm Pheretima guillelmi. The LC50 of P. guiUelmi for 7 and 14 d were 4285＋339 mg/kg and 3207＋248 mg/kg, which shows P. guillelmi can tolerate a higher concentration of lead nitrate. The average weight of the surviving earthworms decreased at concentration of 2800 mg Pb/kg soil, and the locomotor ability of earthworms exposed to a range of soil Pb concentrations showed a general decrease with increasing Pb concentrations. We also presented data depicting the sperm morphology of earthworms, which shows potential as a sensitive biomarker for measuring the effects of heavy metal on reproduction.

Segmental Kinematic Coupling of the Human Spinal Column during Locomotion

As one of the most important daily motor activities, human locomotion has been investigated intensively in recent decades. The locomotor functions and mechanics of human lower limbs have become relatively well understood. However, so far our understanding of the motions and functional contributions of the human spine during locomotion is still very poor and simultaneous in-vivo limb and spinal column motion data are scarce. The objective of this study is to investigate the delicate in-vivo kinematic coupling between different functional regions of the human spinal column during locomotion as a stepping stone to explore the locomotor function of the human spine complex. A novel infrared reflective marker cluster system was constrncted using stereophotogrammetry techniques to record the 3D in-vivo geometric shape of the spinal column and the segmental position and orientation of each functional spinal region simultaneously. Gait measurements of normal walking were conducted. The preliminary results show that the spinal column shape changes periodically in the frontal plane during locomotion. The segmental motions of different spinal functional regions appear to be strongly coupled, indicating some synergistic strategy may be employed by the human spinal column to facilitate locomotion. In contrast to traditional medical imaging-based methods, the proposed technique can be used to investigate the dynamic characteristics of the spinal column, hence providing more insight into the functional biomechanics of the human spine.

Locomotion Optimization and Manipulation Planning of a Tetrahedron-Based Mobile Mechanism with Binary Control

Locomotion and manipulation optimization is essential for the performance of tetrahedron-based mobile mechanism. Most of current optimization methods are constrained to the continuous actuated system with limited degree of freedom(DOF), which is infeasible to the optimization of binary control multi-DOF system. A novel optimization method using for the locomotion and manipulation of an 18 DOFs tetrahedron-based mechanism called 5-TET is proposed. The optimization objective is to realize the required locomotion by executing the least number of struts.Binary control strategy is adopted, and forward kinematic and tipping dynamic analyses are performed, respectively.Based on a developed genetic algorithm(GA), the optimal number of alternative struts between two adjacent steps is obtained as 5. Finally, a potential manipulation function is proposed, and the energy consumption comparison between optimal 5-TET and the traditional wheeled robot is carried out. The presented locomotion optimization and manipulation planning enrich the research of tetrahedron-based mechanisms and provide the instruction to the successive locomotion and operation planning of multi-DOF mechanisms.

A Bionic Neural Network for Fish-Robot Locomotion

A bionic neural network for fish-robot locomotion is presented. The bionic neural network inspired from fish neural net- work consists of one high level controller and one chain of central pattern generators （CPGs）. Each CPG contains a nonlinear neural Zhang oscillator which shows properties similar to sine-cosine model. Simulation re, suits show that the bionic neural network presents a good performance in controlling the fish-robot to execute various motions such as startup, stop, forward swimming, backward swimming, turn right and turn left.

Monoaminergic and catecholaminergic activation of the central pattern generator for locomotion following spinal cord injury Innovative therapeutic approaches

The development of secondary health complications following spinal cord injury has been increasingly recognized by healthcare professionals as a major concern. These problems most specifically affect complete or near-complete spinal cord injury patients （e.g., those with minimal mobility）, who are not typically rehabilitated with treadmill training approaches, because motor control and leg movements are largely impaired. However, recent pharmaceutical advances in central pattern generator activation may provide new therapeutic hopes for these spinal cord injury patients. This article provides a comprehensive overview, for the non-specialist, of the most recent advances in this field.

Metabolic recruitment of spinal locomotion:intracellular neuromodulation by trace amines and their receptors

The trace amines（TAs）are a family of endogenous amines with structural,metabolic,physiological and pharmacological similarities to classical monoamine neurotransmitters.The TA family includes tyramine,octopamine,β-phenylethylamine（PEA）,and tryptamine（Figure 1）.

3-D Locomotion control for a biomimetic robot fish

This paper concerns with 3-D locomotion control methods for a biomimetic robot fish. The system architecture of the fish is firstly presented based on a physical model of carangiform fish. The robot fish has a flexible body, a rigid caudal fin and a pair of pectoral fins, driven by several servomotors. The motion control of the robot fish are then divided into speed control, orientation control, submerge control and transient motion control, corresponding algorithms are detailed respectively. Finally, experiments and analyses on a 4-link, radio-controlled robot fish prototype with 3-D locomotion show its good performance.

Multi-site spinal stimulation strategies to enhance locomotion after paralysis

With the advent of spinal cord epidural stimulation techniques,i.e.,electrically enabled motor control（e Emc）in combination with activity dependent locomotor training,humans with traumatic complete sensori-motor paralysis are able to initiate voluntary leg movements and achieve gains in postural control,and bladder and sexual function（Angeli et al.,2014）.

The Action of Chronic Nicotine on the Effects of Ethanol on Anxiety, Locomotion and Metabolism and the Feeding and Drinking Behaviors of Rats

The objective of these experiments was to study the effects of ethanol on the anxiety level, activity, metabolic rate, and feeding and drinking behaviors of rats that were chronically treated with nicotine. The chronic intake of nicotine changed the effects of the acute administration of ethanol. Thus, the nicotine-dependent rats demonstrated a significantly decreased anxiolytic-like effect in response to ethanol than did the control rats. This decrease may lead to a decrease in the sensitivity of animals to the positive reinforcing effects of ethanol and an increase in their consumption to achieve the desired effect. The negative action of ethanol on the metabolism, motor activity and drinking behavior of rats that chronically consumed nicotine was increased. Chronic nicotine intake can be assumed to lead to cross-tolerance of the effects of ethanol. On the contrary, the sensitivity to the action of ethanol increased.

Locomotion and Depth Control of Robotic Fish with Modular Undulating Fins

This paper presents an environmental-friendly robotic system mimicking the undulating fins of a fish.To mimic the actual flexible fin of real fish,a fin-like mechanism with a series of connecting linkages is modeled and attached to the robotic fish,by virtue of a specially designed strip.Each link is able to turn and slide with respect to the adjacent link.These driving linkages are then used to form a mechanical fin consisting of several fin segments,which are able to produce undulations,similar to those produced by the actual fish fins.Owing to the modular and re-configurable design of the mechanical fin,we are able to construct biomimetic robotic fish with various swimming modes by fin undulations.Some qualitative and workspace observations by experiments of the robotic fish are shown and discussed.

Biomimetic Experimental Research on Hexapod Robot's Locomotion Planning

To provide hexapod robots with strategies of locomotion planning, observation experiments were operated on a kind of ant with the use of high speed digital photography and computer assistant analysis. Through digitalization of original analog video, locomotion characters of ants were obtained, the biomimetic foundation was laid for polynomial trajectory planning of multi-legged robots, which was deduced with mathematics method. In addition, five rules were concluded, which apply to hexapod robots marching locomotion planning. The first one is the fundamental strategy of multi-legged robots＇ leg trajectory planning. The second one helps to enhance the static and dynamic stability of multi-legged robots. The third one can improve the validity and feasibility of legs＇ falling points. The last two give criterions of multi-legged robots＇ toe trajectory figures and practical recommendatory constraints. These five rules give a good method for marching locomotion planning of multi-legged robots, and can be expended to turning planning and any other special locomotion.

Locomotion of Bioinspired Underwater Snake Robots Using Metaheuristic Algorithm

Snake Robots(SR)have been successfully deployed and proved to attain bio-inspired solutions owing to its capability to move in harsh environments,a characteristic not found in other kinds of robots(like wheeled or legged robots).Underwater Snake Robots(USR)establish a bioinspired solution in the domain of underwater robotics.It is a key challenge to increase the motion efficiency in underwater robots,with respect to forwarding speed,by enhancing the locomotion method.At the same time,energy efficiency is also considered as a crucial issue for long-term automation of the systems.In this aspect,the current research paper concentrates on the design of effectual Locomotion of Bioinspired Underwater Snake Robots using Metaheuristic Algorithm(LBIUSR-MA).The proposed LBIUSR-MA technique derives a bi-objective optimization problem to maximize the ForwardVelocity(FV)and minimize the Average Power Consumption(APC).LBIUSR-MA technique involves the design ofManta Ray Foraging Optimization(MRFO)technique and derives two objective functions to resolve the optimization issue.In addition to these,effective weighted sum technique is also used for the integration of two objective functions.Moreover,the objective functions are required to be assessed for varying gait variables so as to inspect the performance of locomotion.A detailed set of simulation analyses was conducted and the experimental results demonstrate that the developed LBIUSR-MA method achieved a low Average Power Consumption(APC)value of 80.52W underδvalue of 50.The proposed model accomplished the minimum PAC and maximum FV of USR in an effective manner.

A novel compound biped locomotion algorithm for humanoid robots to realize biped walking

In this paper, a compound biped locomotion algorithm for a humanoid robot under development is presented. This paper is organized in two main parts. In the first part, it mainly focuses on the structural design for the humanoid. In the second part, the compound biped locomotion algorithm is presented based on the reference motion and reference Zero Moment Point （ZMP）. This novel algorithm includes calculation of the upper body motion and trajectory of the Center of Gravity （COG） of the robot. First, disturbances from the environment are eliminated by the compensational movement of the upper body; then based on the error between a reference ZMP and the real ZMP as well as the relation between ZMP and CoG, the CoG error is calculated, thus leading to the CoG trajectory. Then, the motion of the robot converges to its reference motion, generating stable biped walking. Because the calculation of upper body motion and trajectory of CoG both depend on the reference motion, they can work in parallel, thus providing double insurances against the robot＇s collapse. Finally, the algorithm is validated by different kinds of simulation experiments.