No abstract

This paper is concerned with the design of a robotic fish and its motion control algorithms. A radio-controlled, four-link biomimetic robotic fish is developed using a flexible posterior body and an oscillating foil as a propeller. The swimming speed of the robotic fish is adjusted by modulating joint's oscillating frequency, and its orientation is tuned by different joint's deflections. Since the motion control of a robotic fish involves both hydrodynamics of the fluid environment and dynamics of the robot, it is very difficult to establish a precise mathematical model employing purely analytical methods. Therefore, the fish's motion control task is decomposed into two control systems. The online speed control implements a hybrid control strategy and a proportional-integral-derivative (PID) control algorithm. The orientation control system is based on a fuzzy logic controller. In our experiments, a point-to-point (PTP) control algorithm is implemented and an overhead vision system is adopted to provide real-time visual feedback. The experimental results confirm the effectiveness of the proposed algorithms.

Along with ultralow-energy delay products and symmetric complementary polarities, carbon nanotube field-effect transistors (CNT FETs) are expected to be promising building blocks for energy-efficient computing technology. However, the work frequencies of the existing CNT-based complementary metal-oxide-semiconductor (CMOS) integrated circuits (ICs) are far below the requirement (850 MHz) in state-of-art wireless communication applications. In this work, we fabricated deep submicron CMOS FETs with considerably improved performance of n-type CNT FETs and hence significantly promoted the work frequency of CNT CMOS ICs to 1.98 GHz. Based on these high-speed and sensitive voltage-controlled oscillators, we then presented a wireless sensor interface circuit with working frequency up to 1.5 GHz spectrum. As a preliminary demonstration, an energy-efficient wireless temperature sensing interface system was realized combining a 150 mAh flexible Li-ion battery and a flexible antenna (center frequency of 915 MHz). In general, the CMOS-logic high-speed CNT ICs showed outstanding energy efficiency and thus may potentially advance the application of CNT-based electronics.

No abstract

Silver nanoparticles (SNPs) translocate to the brain through the blood stream after they are implanted in vivo. The aim of this study was to investigate the distribution of SNPs that crossed through the blood-brain barrier (BBB). An in vitro BBB model established by co-cultures of rat brain microvessel vascular endothelial cells (BMVECs) with astrocytes (ACs) was cultured with cell culture medium containing 100 microg/mL of either SNPs or silver microparticles (SMPs). After 4 hours of culture, the ultrastructure and its silver content of BBB was evaluated with transmission electronic microscopy (TEM) and inductively-coupled plasma mass spectrometry (ICP-MS) respectively. Results demonstrated that SNPs crossed the BBB and accumulated inside BMVECs, while the SMPs did not. The data indicated a special distribution of SNPs in the BBB and suggested that SNPs pass the BBB mainly by transcytosis of capillary endothelial cells. Further study would be necessary to evaluate the actual biological effects of SNPs on the brain.

Members of the TGFP/BMP gene family regulate cartilage and bone development. These genes are re-expressed in bone repair and are thought to mediate chondro-and osteoprogenitor cell differentiation. These observations have led to a therapeutic strategy of introducing these growth factors into experimental cartilage and bone defects. Therapeutic efficacy, however, has been limited by diffusion or inactivation of these growth factors from the desired site and by the inability to deliver sustained concentrations of growth factors. This study demonstrates an increase in basal TGFP mRNA and protein levels in association with chondrogenic differentiation in endochondral ossification. mRNA is increased by 158%; protein by 23%, and cells immunopositive for TGFP by 343% at maximal TGFP expression. Importantly, the pattern of TGFP expression is preserved throughout the developmental sequence. Our data suggest that the exposure to a specific electromagnetic field (EMF) enhances, but does not disorganize, chondrogenesis and endochondral calcification as well as the normal physiologic expression of TGFP. The ability to increase TGFP at a moderately low dose for sustained periods of time without disorganizing its physiology suggests the ability to establish temporal concentration gradients of growth factors for the purpose of stimulating skeletal repair.

This paper presents a simplified kinematics propulsive model for carangiform propulsion. The carangiform motion is modeled as a serial $N$-joint oscillating mechanism that is composed of two basic components: the streamlined fish body represented by a planar spline curve and its lunate caudal tail by an oscillating foil. The speed of fish's straight swimming is adjusted by modulating the joint's oscillatory frequency, and its orientation is tuned by different joint's deflections. The experimental results showed that the proposed simplified propulsive model could be a viable candidate for application in aquatic swimming vehicles.

MoSe nanosheets with small size and expanded spaces between the (002) planes were grown on the surfaces of porous N-doped carbon nanotubes (NCNTs) with much higher HER activity than carbon nanotubes without N dopants. Owing to the synergistic effects between the MoSe nanosheets and the porous NCNT substrate, MoSe/NCNTs exhibit superior HER activity to layered metal chalcogenides reported previously.