一种新的康复与代步外骨骼机器人研究

针对老年人及下肢障碍者康复训练与代步问题,本文提出一种新的康复与代步外骨骼机器人.本文首先详细介绍了机器人各部分组成及机构设计方案,通过下肢外骨骼与轮椅的有机结合,有效保持或恢复老年人、脑卒中患者下肢运动能力的同时,为患者提供一种方便的代步工具;运用脚蹬车运动制订康复训练策略,可保持下肢康复训练轨迹固定,保证患者安全;提出主从式操作方法及多模态康复训练控制流程提高使用者参与感.最后通过仿真与实验验证了所提康复系统的可行性与设计的正确性.

Simplified Wave Models Applicability to Shallow Mud Flows Modeled as Power-Law Fluids

Simplified wave models- such as kinematic,diffusion and quasi-steady- are widely employed as a convenient replacement of the full dynamic one in the analysis of unsteady open-channel flows,and especially for flood routing.While their use may guarantee a significant reduction of the computational effort,it is mandatory to define the conditions in which they may be confidently applied.The present paper investigates the applicability conditions of the kinematic,diffusion and quasisteady dynamic shallow wave models for mud flows of power-law fluids.The power-law model describes in an adequate and convenient way fluids that at low shear rates fluids do not posses yield stress,such as clay or kaolin suspensions,which are frequently encountered in Chinese rivers.In the framework of a linear analysis,the propagation characteristics of a periodic perturbation of an initial steady uniform flow predicted by the simplified models are compared with those of the full dynamic one.Based on this comparison,applicability criteria for the different wave approximations for mud flood of power-law fluids are derived.The presented results provide guidelines for selecting the appropriate approximation for a given flow problem,and therefore they may represent a useful tool for engineering predictions.

Compost and Compost Tea Management of Mini Watermelon Cultivations Affects the Chemical, Physical and Sensory Assessment of the Fruits

Compost, rich in plant nutrients, is a readily available fertilizer with beneficial effects on physical, chemical, biochemical and biological properties of the soils. Moreover compost-based treatments can exert protective effects against plant diseases occurrence and/or stimulate an enhanced plant physiological status with improvements in quantity and quality of crop productions. In this study the effects of three different compost-based cropping managements on the productive response and main quality parameters of watermelon fruits were investigated. Treatments, in comparison with the conventional cultivation method, were: soil amendment with an agricultural waste compost (AWC), a municipal waste compost (MWC) and a foliar treatment with a compost tea blend (CTB). The productive responses and colour parameters related to compost treatments did not show significant differences compared to control ones, which reached a total yield of about 10.22 kg·m-2 with a mean weight of 2.74 kg. AWC caused a higher ascorbic acid content with an increase of 50% than conventional treatment, while fruits obtained by CTB showed higher values in firmness and Quality Index than control samples. The analysis of main sugars highlighted that the application of compost as biofertilizer influenced the ratio among fructose, glucose and sucrose with respect to those observed for control fruits.

A realized Tuber <i>magnatum</i>niche in the upper Sinni area (south Italy)

A realized Tuber magnatum niche, in the upper Sinni area (Serrapotamo, south Italy), was studied using geographic information system, direct in situ survey and genetic diversity at DNA marker loci. Truffières were north facing, associated with a fine loamy-sandy soil bearing high carbonate content over a conglomerate bead-rock substrate. Target area is located in Pavari's cold and medium-cold Lauretum phithoclimatic belts. Ascoma genomic DNA was analyzed and ITS sequences, microsatellites (MA2, MA4 and MA7), along with M13 minisatellite loci, did show low heteozygosity (HE = 0.153). Serrapotamo genotypes did not express localized markers when compared with Piemonte (north Italy) genetic material. ITS marker, monomorphic within T. magnatum, was efficient at distinguishing T. borchii in a mixture of both. Serrapotamo niche represents a unique T. magnatum diversity spot in the southernmost side of the Mediterranean region. Maintaining Serrapotamo T. magnatum diversity by undertaking conservation measures is adviced.

Biogenetic Linkage among Ecotopes within Matera-Sassi (Italy) Habitat

In the management of UNESCO cultural sites of significant environmental importance, the erroneous assumption that the environment is independent of biological heritage often prevails. The mapping of phylogenetic resources in the ancient city Matera-Sassi (MS) and the multivariable analysis at the level of ecotope and habitat have made it possible to identify the consistency of the plant genetic heritage and the biogenetic associations between the different ecotopes through the species they host. The bioclimatic variables and geomorphology of MS define an ecological niche refuge for rare or absent species in the surrounding landscape (e.g., Campanula versicolor L., Centranthus ruber (L.) Dc., Capparis spinosa L., Cymbalaria muralis Hill, Crepis spp., Lavathera arborea L.) The total floristic capital in MS amounts to 190 species belonging to 59 different botanical families;80% are native species and only 4% are invasive. About half are Mediterranean with a moderate presence (17%) of cosmopolitan and sub-cosmopolitan;5% are endemic species. Autogenic ecotopes (Type I) represented by “Pleistocene limestone” and “House wall” contribute to the variation of total biodiversity through Endemic species mainly Chamephytes;anthropogenic ecotopes (Type III) such as “Garden” and “Town boundary” with Archaeophytes and exotic Neophytes mainly Phanerophytes;while “Humid margins” and mixed ecotopes (Type II) are linked to feral species and mainly to hemi-cryptophytes and therophytes. Minimum spanning tree of the habitat features traced by the floristic biological heritage is consistent with the pedogenetic relationships between primary mother rocks, their derived ecotopes and anthropogenic impacts. Ecotope ranking based on its biodiversity value indicates that appropriate simultaneous conservation of both genetic resources and human works is achievable.

Addressing Biodiversity Conservation Methods with Fagus sylvatica Genetic Indicators

Species biological history revealed by genetic indicators can provide guidelines for long-term biodiversity conservation in Natura 2000 network. Fagus sylvatica is the keystone species which regulates in the Mediterranean Eco-Region ecosystem structure, function and composition. Six hundred fifty nine F. sylvatica individuals have been sampled across 20 sites of European interest in Southern Italy and analyzed at 5 microsatellite loci. For sites marked by both maximum heterozygosity (Ho) and minimum heterozygote deficit (Fis) (IT9210210, ITA070099, IT9210205 and IT9220075) it is suggested to avoid impacts by adopting very conservative measures. Promoting migration processes (pollen flow and seed flow) would be appropriate where it has been monitored low heterozygosity and high genetic disequilibrium. Margin effect due to dryness should be buffered with appropriate belts of thermophilus broad leaved tree species.

Removal of Herbicides from Water Using Heterogeneous Photocatalysis Case Study: MCPA Sodium Monohydrate

In this study, the herbicide MCPA sodium salt monohydrate (sodium (4-chloro-2 methylphenoxy) acetate has been studied as are presentative compound used in the agricultural field. Accordingly, direct photolysis and photocatalytic experiments under artificial irradiation simulating solar light in laboratorial conditions were performed. Photocatalytic experiments were performed using TiO2 dispersed powder and as an immobilized thin layer on the surface of blue glasses. The obtained results of photolysis showed a poor efficacy toward degradation of MCPA sodium monohydrate, with half-life (t1/2) 6931.5 min. While, the addition of TiO2 dispersed powder to the photocatalytic process enhances the process dramatically with (t1/2) equal to 36.5 min;furthermore, complete mineralization had been reached after approximately 4 hours, whereas the addition of TiO2 through immobilized system led to enhance the degradation rate with 2236 min. as t1/2. In spite of this, using TiO2 supported on glass substrates with more improvements could be a promising alternative to conventional TiO2 suspension, and provides a clean treatment method.

Combined forest and soil management after a catastrophic event

At the end of October 2018,a storm of unprecedented strength severely damaged the forests of the eastern sector of the Italian Alps.The affected forest area covers 42,500 ha.The president of one of the damaged regions asked for help from the University of Padua.After eight months of discussion,the authors of this article wrote a consensus text.The sometimes asper debate brought to light some crucial aspects:1)even experienced specialists may have various opinions based on scientific knowledge that lead to conflicting proposals for action.For some of them there is evidence that to restore a destroyed natural environment it is more judicious to do nothing;2)the soil corresponds to a living structure and every ecosystem’s management should be based on it;3)faced with a catastrophe,people and politicians find themselves unarmed,also because they rarely have the scientific background to understand natural processes.Yet politicians are the only persons who make the key decisions that drive the economy in play and therefore determine the near future of our planet.This article is an attempt to respond directly to the governor of a region who formally and prudently asked a university department called"Land,Environment,Agriculture and Forestry"for help before taking decisions;4)the authors also propose an artistic interpretation of facts(uncontrolled storm)and conclusions(listen to the soil).Briefly,the authors identify the soil as an indispensable source for the renewal of the destroyed forest,give indications on how to prepare a map of the soils of the damaged region,and suggest to anchor on this soil map a series of silvicultural and soil management actions that will promote the soil conservation and the faster recovery of the natural dynamic stability and resilience.

Halophile plant growth-promoting rhizobacteria induce salt tolerance traits in wheat seedlings(Triticum aestivum L.)

Salinity is one of the most important growth-limiting factors for most crops in arid and semi-arid regions;however,the use of plant growth-promoting rhizobacteria isolated from saline soils could reduce the effects of saline stress in crops.This study aimed to evaluate the efficiency of plant growth-promoting rhizobacteria(PGPRs),isolated from the rhizosphere of halophile plants,for the growth,Na^+/K^+balance,ethylene emission,and gene expression of wheat seedlings{Triticum aestivum L.)grown under saline conditions(100 mmol L^-1 NaCl)for 14 d.A total of 118 isolates obtained from saline soils of the deserts of Iran were tested for their capacity as PGPRs.Out of the 118 isolates,17 could solubilize phosphate(Ca3(P〇4)2),5 could produce siderophores,and 16 could synthesize indole-3-acetic acid.Additionally,PGPRs were also evaluated for aminocyclopropane-l-carboxylate deaminase activity.A pot experiment was conducted to evaluate the ability of 28 PGPR isolates to promote growth,regulate Na^+/K^+balance,and decrease ethylene emissions in plants.The most efficient PGPRs were Arthrobacter aurescens.Bacillus atrophaeus,Enterobacter ashuriae,and Pseudomonas fluorescens.Gene expression analysis revealed the up-regulation of H^+-PPase,HKT1,NHX7,CAT,and APX expression in roots of Enterobacter-inocuVdied salt-stressed plants.Salt-tolerant rhizobacteria exhibiting plant growth-promoting traits can facilitate the growth of wheat plants under saline conditions.Our results indicate that the isolation of these bacteria may be useful for formulating new inoculants to improve wheat cropping systems in saline soils.

A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

A feasibility study on the mechanical design and walking operation of a Cassino biped locomotor is presented in this paper. The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallel manipulator architecture. Planning of the biped walking gait is performed by coordinating the motions of the two leg mechanisms and waist. A three- dimensional model is elaborated in SolidWorks environ- ment in order to characterize a feasible mechanical design. Dynamic simulation is carried out in MSC.ADAMS environment with the aims of characterizing and evaluat- ing the dynamic walking design. Simulation results performance of the proposed show that the proposed biped locomotor with proper input motions of linear actuators performs practical and feasible walking on fiat surfaces with limited actuation and reaction forces between its feet and the ground. A preliminary prototype of the biped locomotor is built for the purpose of evaluating the operation performance of the biped walking gait of the proposed locomotor.

An experimental characterization of human torso motion

躯干在类人动物的似人类的操作起一个重要作用。在这份报纸，一个方法被建议由使用惯性、磁性的察觉到的工具分析人的躯干的行为。实验被进行在日常生活操作期间描绘人的躯干的运动表演。而且，在这些操作期间对人的身体起作用的力量被评估设计并且验证一个类人动物机器人的表演。

In Vivo Phenotyping for the Early Detection of Drought Stress in Tomato

Drought stress imposes a major constraint over a crop yield and can be expected to grow in importance if the climate change predicted comes about.Improved methods are needed to facilitate crop management via the prompt detection of the onset of stress.Here,we report the use of an in vivo OECT(organic electrochemical transistor)sensor,termed as bioristor,in the context of the drought response of the tomato plant.The device was integrated within the plant’s stem,thereby allowing for the continuous monitoring of the plant’s physiological status throughout its life cycle.Bioristor was able to detect changes of ion concentration in the sap upon drought,in particular,those dissolved and transported through the transpiration stream,thus efficiently detecting the occurrence of drought stress immediately after the priming of the defence responses.The bioristor’s acquired data were coupled with those obtained in a high-throughput phenotyping platform revealing the extreme complementarity of these methods to investigate the mechanisms triggered by the plant during the drought stress event.

Design and simulation of a cable-pulley-based transmission for artificial ankle joints

在这份报纸，机械传播在人工的脚关节关节为似人类的使活动基于电报滑轮被建议人规模。解剖人的脚关节的关节的特征在设计人工的脚关节关节设备的精确、有效、柔韧的运动控制为合适的 biomimetic 灵感被讨论。设计过程为传播系统的一个交互答案通过概念的考虑和设计细节的包括被介绍。一个机械图案为与沥青运动尖的脚关节关节被详细描述。多身体动态模拟模型因此被详细描述并且在 ADAMS 环境数字地评估了。数字模拟的结果被讨论评估建议设计解决方案的动态性能并且为类人动物机器人在未来应用程序调查建议设计的可行性。