The concentrations of protein, calcium, phosphorus and glucose of the synovial fluid in the carpus and tarsus were studied in 6 health Holstein cows by the conventional techniques. and the results were compared with t...The concentrations of protein, calcium, phosphorus and glucose of the synovial fluid in the carpus and tarsus were studied in 6 health Holstein cows by the conventional techniques. and the results were compared with the contents in the serum. The results were as follows:1).There was no significant difference between left and right joints. 2).The contents of total protein, albumin, globulin in carpus were lower than that in tarsus but no significant difference. 3).The contents of protein, phosphorus and glucose in the serum were significant higher than that in synovia. However, the content of calcium in the serum was significant lower than that in synovia.展开更多
The cellular constituents of the carpus and tarsus were investigated in 6 healthy Holstein cows.The cell counts method in synovial fluid was founded.The differential leukocyte contes were made from smears stained with...The cellular constituents of the carpus and tarsus were investigated in 6 healthy Holstein cows.The cell counts method in synovial fluid was founded.The differential leukocyte contes were made from smears stained with Wright's and Giemsa's compound stain.There were four types of cells in the synovial fluid,i.e,lymphocytes,neutrophils,macrophages and degenerated cells.The percentages of neutrophils in the synovial fluid was significantly lower than that in the bolld.The eosinophils and basophils were never observed in the smear.展开更多
With the increasing size of space facilities,on-orbit assembly requires robots to move on different heights of trusses.This paper proposes a bio-inspired attachment mechanism for robot feet to enable climbing on diffe...With the increasing size of space facilities,on-orbit assembly requires robots to move on different heights of trusses.This paper proposes a bio-inspired attachment mechanism for robot feet to enable climbing on different heights of trusses.Inspired by the attachment and grasping abilities of Dynastes Hercules,we utilize its foot microstructures,such as microhooks and setae,to achieve efficient contact and firm grip with the surface.The morphology and arrangement of these structures can inspire the design of robot feet to improve their grasping and stability performance.We study the biological structure of Dynastes Hercules,design and optimize the bio-inspired structure,analyze the influence of various factors from theoretical and experimental perspectives,and verify the feasibility of the scheme through simulation.We propose an ideal climbing strategy that provides useful reference for robot applications in practice.Moreover,the influence laws of various factors in this paper can be applied to robot foot design to improve their operation ability and stability performance in the space environment.This bio-inspired mechanism can improve robot working range and efficiency,which is critical for on-orbit assemblyin space.展开更多
The insect limb develops from the imaginal disc or larval leg during metamor- phosis. The molecular mechanisms involved in the development from the larval to the adult leg are poorly understood. Herein, we cloned the ...The insect limb develops from the imaginal disc or larval leg during metamor- phosis. The molecular mechanisms involved in the development from the larval to the adult leg are poorly understood. Herein, we cloned the full length of a zinc finger gene rotund from Bombyx mori （Bmrn）, which contained a 1419 bp open reading frame, and encoded a 473 amino acid protein. Reverse transcription polymerase chain reaction and Western blot analyses demonstrated that Bmrn was expressed at higher levels in the epidermis than in other tissues tested, and it showed a very high expression level during metamorphosis. Knock-down of Bmrn produced defects in the tarsus and pretarsus, including the fusion and reduction of tarsomeres, and the developmental arrest of pretarsus. Our data showed that Bmrn is involved in the formation of the tarsus and pretarsus, whereas its homologous gene in Drosophila has been shown to affect three tarsal segments （t2-t4）, suggesting that the remodeling of the leg has involved changes in the patterning of gene regulation during evolution.展开更多
High harvesting success rate is part of the key technologies for robotic cherry tomato harvesting,which is closely related to the structural design of the end-effector.To obtain a high success rate of fruit harvesting...High harvesting success rate is part of the key technologies for robotic cherry tomato harvesting,which is closely related to the structural design of the end-effector.To obtain a high success rate of fruit harvesting,this paper presents a compliant end-effector with bio-inspired tarsus compliant gripper inspired by the structure and mechanics of the tarsal chain in the Serica orientalis Motschulsky.Response Surface Methodology(RSM)based on Box Behnken Design(BBD)technique has been used to optimize the key structural parameters of the bionic compliant end-effector for achieving the expected results in pulling pattern for robotic cherry tomato harvesting.Experiments were designed by maintaining three levels of four process parameters—Length of the Offset Segment Tarsomere(OSTL),Angle of the Inclined Segment Tarsomere(ISTA),Thickness of the Extended Segment Tarsomere(ESTT)and Length of the Extended Segment Tarsomere(ESTL).According to the optimization analysis results,the best parameter combination is OSTL 23 mm,ISTA 14°,ESTT 5.0 mm,ESTL 23 mm.Besides,the harvesting performance of the optimized bionic compliant end-effector was verified by experiments.The results indicated the harvesting success rate of fruits with different equatorial diameters was not less than 76%.展开更多
文摘The concentrations of protein, calcium, phosphorus and glucose of the synovial fluid in the carpus and tarsus were studied in 6 health Holstein cows by the conventional techniques. and the results were compared with the contents in the serum. The results were as follows:1).There was no significant difference between left and right joints. 2).The contents of total protein, albumin, globulin in carpus were lower than that in tarsus but no significant difference. 3).The contents of protein, phosphorus and glucose in the serum were significant higher than that in synovia. However, the content of calcium in the serum was significant lower than that in synovia.
文摘The cellular constituents of the carpus and tarsus were investigated in 6 healthy Holstein cows.The cell counts method in synovial fluid was founded.The differential leukocyte contes were made from smears stained with Wright's and Giemsa's compound stain.There were four types of cells in the synovial fluid,i.e,lymphocytes,neutrophils,macrophages and degenerated cells.The percentages of neutrophils in the synovial fluid was significantly lower than that in the bolld.The eosinophils and basophils were never observed in the smear.
基金supported in part by the National Nature Science Foundation of China[No.62073229]Jiangsu Policy Guidance Program(International Science and Technology Cooperation)The Belt and Road Initiative Innovative Cooperation Projects(No.BZ2021016)EDL fund of Beijing Institute of Space Mechanics and Electricity(Grant No.EDL19092127).
文摘With the increasing size of space facilities,on-orbit assembly requires robots to move on different heights of trusses.This paper proposes a bio-inspired attachment mechanism for robot feet to enable climbing on different heights of trusses.Inspired by the attachment and grasping abilities of Dynastes Hercules,we utilize its foot microstructures,such as microhooks and setae,to achieve efficient contact and firm grip with the surface.The morphology and arrangement of these structures can inspire the design of robot feet to improve their grasping and stability performance.We study the biological structure of Dynastes Hercules,design and optimize the bio-inspired structure,analyze the influence of various factors from theoretical and experimental perspectives,and verify the feasibility of the scheme through simulation.We propose an ideal climbing strategy that provides useful reference for robot applications in practice.Moreover,the influence laws of various factors in this paper can be applied to robot foot design to improve their operation ability and stability performance in the space environment.This bio-inspired mechanism can improve robot working range and efficiency,which is critical for on-orbit assemblyin space.
基金We are grateful to the following individuals for their helpful comments and reviews during the preparation of this manuscript： Zhao-Ming Dong, Peng-Chao Guo. This work was supported by grants from the State Key Program of the National Natural Science of China （No. 31530071 ） and the National Natural Science Foundation of China （No. 31272502 and No. 30800804）.
文摘The insect limb develops from the imaginal disc or larval leg during metamor- phosis. The molecular mechanisms involved in the development from the larval to the adult leg are poorly understood. Herein, we cloned the full length of a zinc finger gene rotund from Bombyx mori （Bmrn）, which contained a 1419 bp open reading frame, and encoded a 473 amino acid protein. Reverse transcription polymerase chain reaction and Western blot analyses demonstrated that Bmrn was expressed at higher levels in the epidermis than in other tissues tested, and it showed a very high expression level during metamorphosis. Knock-down of Bmrn produced defects in the tarsus and pretarsus, including the fusion and reduction of tarsomeres, and the developmental arrest of pretarsus. Our data showed that Bmrn is involved in the formation of the tarsus and pretarsus, whereas its homologous gene in Drosophila has been shown to affect three tarsal segments （t2-t4）, suggesting that the remodeling of the leg has involved changes in the patterning of gene regulation during evolution.
基金This work was supported by Anhui Provincial Major Science and Technology Project(Project No.202203a06020002)the Fundamental Research Funds for the Central Universities(No.BC210202084).
文摘High harvesting success rate is part of the key technologies for robotic cherry tomato harvesting,which is closely related to the structural design of the end-effector.To obtain a high success rate of fruit harvesting,this paper presents a compliant end-effector with bio-inspired tarsus compliant gripper inspired by the structure and mechanics of the tarsal chain in the Serica orientalis Motschulsky.Response Surface Methodology(RSM)based on Box Behnken Design(BBD)technique has been used to optimize the key structural parameters of the bionic compliant end-effector for achieving the expected results in pulling pattern for robotic cherry tomato harvesting.Experiments were designed by maintaining three levels of four process parameters—Length of the Offset Segment Tarsomere(OSTL),Angle of the Inclined Segment Tarsomere(ISTA),Thickness of the Extended Segment Tarsomere(ESTT)and Length of the Extended Segment Tarsomere(ESTL).According to the optimization analysis results,the best parameter combination is OSTL 23 mm,ISTA 14°,ESTT 5.0 mm,ESTL 23 mm.Besides,the harvesting performance of the optimized bionic compliant end-effector was verified by experiments.The results indicated the harvesting success rate of fruits with different equatorial diameters was not less than 76%.
