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- 저자 : Vega-Diaz, Sofia (검색결과 3 건)
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Maximiliano Giraud-Billoud,Alejandra Daniela Campoy-Diaz,Emilio Mansilla Munoz,Israel Anibal Vega 환경독성보건학회 2022 환경독성보건학회지 Vol.37 No.3
All female Pomacea canaliculata develop a small, male-like copulatory apparatus a few days after birth, which growths slowly until sexual maturity, and even further in older age. Previous studies have found trace elements like mercury (Hg), arsenic (As) and uranium (U) in tap water used for snail culture, and that these elements were accumulated in snail tissues. Here, we test whether the presence of these metals at maximum allowed concentrations (Environmental Protection Agency - EPA) in aquarium water could affect the development of the copulatory apparatus in mature females. Females of different ages were used as controls, grown in reconstituted metal-free water with or without the addition of Hg, As and U, as well as tributyltin (TBT), a compound used as masculinizing agent. Six and seven months old females cultured in tap water showed a longer penis and penile sheath, and a greater overall development of the copulatory apparatus, measured by an index (DI), as compared with same-age females cultured in reconstituted water. Moreover, when females were exposed to Hg, As or U at the maximum contaminant levels for human consumption allowed by EPA regulations, there was no further development of the copulatory apparatus, while there was a clearly positive effect in TBT-exposed females. This study confirms the masculinizing effect of organotin compounds on female copulatory apparatus and discusses the usefulness of the development of these organs as a bioindicator of environmental pollution.
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Dynamic Manipulation of an Unknown Object Under Compliant Non-holonomic Constraints
Rodolfo Garcia-Rodriguez,Vicente Parra-Vega,Luis Pantoja-Garcia,Ernesto Olguin-Diaz 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.6
There are many robot control schemes where the end-effector is subject to holonomic or non-holonomic constraints. However, the literature has overlooked the problem of simultaneous holonomic and nonholonomic constraints. In particular, the case of constrained tangent force with a normal force to manipulate an object. In this paper, to study this problem, it is considered two 2D rigid robot fingers whose end-effectors are equipped with hemispherical deformable tips in contact with a rigid object. If the radius changes when force is exerted, we can notice a 1D-tangent constraint force and a 1D-normal compliant force arise simultaneously from the so-called compliant nonholonomic constraint. An energy reshaping controller is proposed to ensure simultaneously the convergence of the normal and tangential constraint forces assuming nonlinear viscoelastic damping. A representative simulation study shows the advantages of the constraints forces, in complex dexterity tasks, under the assumption that knowledge of the non-regular object is unknown.
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Cruz-Silva, Rodolfo,Morelos-Gomez, Aaron,Kim, Hyung-ick,Jang, Hong-kyu,Tristan, Ferdinando,Vega-Diaz, Sofia,Rajukumar, Lakshmy P.,Elí,as, Ana Laura,Perea-Lopez, Nestor,Suhr, Jonghwan,Endo, Morin American Chemical Society 2014 ACS NANO Vol.8 No.6
<P>Graphene oxide (GO) has recently become an attractive building block for fabricating graphene-based functional materials. GO films and fibers have been prepared mainly by vacuum filtration and wet spinning. These materials exhibit relatively high Young’s moduli but low toughness and a high tendency to tear or break. Here, we report an alternative method, using bar coating and drying of water/GO dispersions, for preparing large-area GO thin films (<I>e.g.</I>, 800–1200 cm<SUP>2</SUP> or larger) with an outstanding mechanical behavior and excellent tear resistance. These dried films were subsequently scrolled to prepare GO fibers with extremely large elongation to fracture (up to 76%), high toughness (up to 17 J/m<SUP>3</SUP>), and attractive macroscopic properties, such as uniform circular cross section, smooth surface, and great knotability. This method is simple, and after thermal reduction of the GO material, it can render highly electrically conducting graphene-based fibers with values up to 416 S/cm at room temperature. In this context, GO fibers annealed at 2000 °C were also successfully used as electron field emitters operating at low turn on voltages of <I>ca.</I> 0.48 V/μm and high current densities (5.3 A/cm<SUP>2</SUP>). Robust GO fibers and large-area films with fascinating architectures and outstanding mechanical and electrical properties were prepared with bar coating followed by dry film scrolling.</P><P><B>Graphic Abstract</B> <IMG SRC='http://pubs.acs.org/appl/literatum/publisher/achs/journals/content/ancac3/2014/ancac3.2014.8.issue-6/nn501098d/production/images/medium/nn-2014-01098d_0007.gif'></P><P><A href='http://pubs.acs.org/doi/suppl/10.1021/nn501098d'>ACS Electronic Supporting Info</A></P>
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