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Design of a Track-Leg Hybrid Locomotive Mobile Robot
K. N. M. Perera,D. L. F. M. Liyanage,P. V. K. Asanka,D. N. Rajapaksha,Y. W. R. Amarasinghe,R. A. R. C. Gopura,S. A. Nanayakkara 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
The use of robotic platforms for operations in harsh and high risk environments such as mining sites has become more popular with the advancements within the field of mobile robotics. In this paper, the designing of a hybrid locomotive mobile platform that utilizes both tracked locomotion and legged-like movements to achieve mobility is presented. The proposed track-leg mechanism and power transmission methodology are discussed in detail along with the overall design framework. The functionality validation and analysis of the legged locomotion was done in a simulation environment using MSC ADAMS with open-loop track-leg velocity control. The designed mobile robot demonstrated the ability to traverse a flat terrain and overcome a semi-cylindrical obstacle without tipping over in the simulations for the selected gait. The mobile robot also consists of 3 degrees of freedom (DOF) robotic arm which facilitates total human replacement by enabling the ability to perform any sample collecting, inspecting, pick and place tasks. The design of the robotic arm is also presented within this paper.
Crisp, Ryan W.,Pach, Gregory F.,Kurley, J. Matthew,France, Ryan M.,Reese, Matthew O.,Nanayakkara, Sanjini U.,MacLeod, Bradley A.,Talapin, Dmitri V.,Beard, Matthew C.,Luther, Joseph M. American Chemical Society 2017 Nano letters Vol.17 No.2
<P>We developed a monolithic CdTe–PbS tandem solar cell architecture in which both the CdTe and PbS absorber layers are solution-processed from nanocrystal inks. Due to their tunable nature, PbS quantum dots (QDs), with a controllable band gap between 0.4 and ∼1.6 eV, are a promising candidate for a bottom absorber layer in tandem photovoltaics. In the detailed balance limit, the ideal configuration of a CdTe (<I>E</I><SUB>g</SUB> = 1.5 eV)–PbS tandem structure assumes infinite thickness of the absorber layers and requires the PbS band gap to be 0.75 eV to theoretically achieve a power conversion efficiency (PCE) of 45%. However, modeling shows that by allowing the thickness of the CdTe layer to vary, a tandem with efficiency over 40% is achievable using bottom cell band gaps ranging from 0.68 and 1.16 eV. In a first step toward developing this technology, we explore CdTe–PbS tandem devices by developing a ZnTe–ZnO tunnel junction, which appropriately combines the two subcells in series. We examine the basic characteristics of the solar cells as a function of layer thickness and bottom-cell band gap and demonstrate open-circuit voltages in excess of 1.1 V with matched short circuit current density of 10 mA/cm<SUP>2</SUP> in prototype devices.</P><P><B>Graphic Abstract</B> <IMG SRC='http://pubs.acs.org/appl/literatum/publisher/achs/journals/content/nalefd/2017/nalefd.2017.17.issue-2/acs.nanolett.6b04423/production/images/medium/nl-2016-04423k_0006.gif'></P><P><A href='http://pubs.acs.org/doi/suppl/10.1021/nl6b04423'>ACS Electronic Supporting Info</A></P>
Fernando, I.P. Shanura,Jayawardena, Thilina U.,Kim, Hyun-Soo,Vaas, A.P.J.P.,De Silva, H.I.C.,Nanayakkara, C.M.,Abeytunga, D.T.U.,Lee, WonWoo,Ahn, Ginnae,Lee, Dae-Sung,Yeo, In-Kyu,Jeon, You-Jin Elsevier 2019 Life sciences Vol.233 No.-
<P><B>Abstract</B></P> <P>Increased levels of particulate matter (PM) air pollutants in East Asia have resulted in detrimental health impacts increasing morbidity and mortality. Epidemiological studies suggest a possible relation between the cutaneous exposure of PM and increased oxidative stress and inflammation which lead to skin lesions. The present study utilizes an integrated cell culture model of keratinocytes and fibroblasts to mimic viable skin layers and investigate the possible effects of PM exposure after penetration through corneocytes. The skin perfection is upheld by homeostatic functionality of epidermal cells and the integrity of connective tissues. Exposure to xenobiotics could alter the skin cell homeostasis aggravating premature skin aging. Stimulation of HaCaT keratinocytes by PM collected from Beijing, China (CPM) increased the intracellular ROS levels triggering a cascade of events aggravating inflammatory responses and connective tissue degradation. In HDF fibroblasts, treatment with preconditioned keratinocyte culture media augmented inflammatory responses, cellular differentiation, and connective tissue degradation. Above events were marked by the increased intracellular ROS, inflammatory mediators, pro-inflammatory cytokines, matrix metalloproteinases (MMP)-1 and -2 levels, collagenase, and elastase activity. Fucosterol treatment of keratinocytes dose-dependently attenuated the detrimental effects both in keratinocytes and fibroblasts restoring the conditions near to physiological levels. Further evaluations could be advanced on developing fucosterol, in forms such as rejuvenating cosmeceuticals which could attenuate detrimental responses of CPM exposure.</P> <P><B>Graphical abstract</B></P> <P>[DISPLAY OMISSION]</P>
Fernando, I.P. Shanura,Jayawardena, Thilina U.,Kim, Hyun-Soo,Lee, Won Woo,Vaas, A.P.J.P.,De Silva, H.I.C.,Abayaweera, G.S.,Nanayakkara, C.M.,Abeytunga, D.T.U.,Lee, Dae-Sung,Jeon, You-Jin Academic Press 2019 Environmental research Vol.172 No.-
<P><B>Abstract</B></P> <P>Particulate matter (PM) air pollution has gradually become a widespread problem in East Asia. PM may cause unfamiliar inflammatory responses, oxidative stress, and pulmonary tissue damage, and a comprehensive understanding of the underlying mechanisms is required in order to develop effective anti-inflammatory agents. In this study, fine dust collected from Beijing, China (CPM) (size < PM13 with majority < PM2.5) was evaluated for its oxidative stress- and inflammation-inducing effects, which cause cell damage, in A459 human lung epithelial cells. Oxidative stress was marked by an increase in intracellular ROS levels and the production of antioxidant enzymes such as superoxide dismutase (SOD), catalase (CAT), and heme oxygenase-1 (HO-1). Upon induction of oxidative stress, a marked increase was observed in the expression of key inflammatory mediators such as COX-2 and PGE<SUB>2</SUB> and the pro-inflammatory cytokines TNF-α and IL-6 via NF-kB and MAPK pathways. Cellular damage was marked by a reduction in viability, increased lactate dehydrogenase (LDH) release, formation of apoptotic and necrotic bodies, accumulation of sub-G1 phase cells, and DNA damage. Apoptosis was found to be mediated via the activation of caspases through the mitochondria-mediated pathway. Fucosterol, purified from the brown alga <I>Sargassum binderi</I> (Sonder ex J. Agardh) by bio-assay-guided fractionation and purification, exhibited potential therapeutic effects against CPM-induced detrimental effects. Further studies could focus on developing fucosterol, in forms such as steroidal inhalers, against PM-induced pulmonary tissue inflammation.</P> <P><B>Highlights</B></P> <P> <UL> <LI> Fine dust air pollution is a major reason of pulmonary complications in East Asia. </LI> <LI> Dust particles induce oxidative stress and inflammation damaging the lung epithelial cells. </LI> <LI> Fucosterol suppressed the dust induced cell damage by inhibiting oxidative stress and inflammation. </LI> <LI> Fucosterol may have beneficial effects in alleviating adverse respiratory effects of air pollution. </LI> </UL> </P> <P><B>Graphical abstract</B></P> <P>[DISPLAY OMISSION]</P>