Li collection experiments on T-11M and T-10 in framework of Li closed loop concept

The concept of a steady state tokamak with plasma facing components (PFC) on the basis of liquid lithium circulation demands the decision of three tasks: lithium injection to the plasma, lithium ions collection before their deposition on the vacuum vessel and lithium returning to the injection zone. Main subject of paper is the investigations of Li collection by different types of limiters intersected the scrape-of-layer (SOL) in T-10 and T-11M tokamaks. For finding solution for this problem in T-11M and T-10, experiments have been applied with Li-, C-rail limiters and ring SS R-limiter-collector (T-11M). The efficiency of Li collection by limiters in T-11M and T-10 tokamaks was investigated by post mortem sample–witness analysis and (T-11M) by the use of the mobile graphite probe (limiter) as a recombination target in the stream of lithium ions. The characteristic depth of lithium penetration in the SOL area of T-11M is about 2 cm and 4 cm in SOL of T-10. The quantitative analysis of the sample–witnesses located on T-11M limiters showed that 60 ± 20% of the lithium injected during plasma operating of T-11M had been collected by limiters. It confirms an opportunity of the lithium ions collection by limiters in tokamak SOL.     

Determination of photophysical parameters of red fluorescent protein mRFP1 under ultraviolet excitation by methods of laser fluorimetry

We investigate photophysical processes that take place in macromolecules of a fluorescent protein mRFP1 under UV excitation [when the energy transfer in a localized donor-acceptor (LDA) pair, which is presented in the molecules of the protein, becomes apparent]. We used a special approach based on the fluorescence laser spectroscopy technique. The energy transfer rates in LDA pairs and photophysical parameters of fluorophores (chromophores) of three spectral forms, which coexist in the ensemble of the macromolecules of this protein, were determined under pulse UV laser excitation.     

Trends in Russian research output in post-Soviet era

Recently, the Russian government has ordered evaluation and reform of the basic research system. As a consequence, the number of research staff at the Russian Academy of Sciences will be reduced by 20% by 2007. The basis for research evaluation and institute budgeting will be bibliometric indicators. In view of these changes we look at the Russian publication output and argue that

Phosphorus oxynitride: a thermally stable fire retardant additive for polyamide 6 and poly(butylene terephthalate)

The combustion performance of polyamide 6 (PA 6) and poly(butylene terephthalate) (PBT), both fire retarded by phosphorus oxynitride (PON), was studied by oxygen index (OI) and Underwriters Laboratory UL94 tests. It was shown that either PON alone or in combination with different co-additives is efficient in PA 6 and much less active in PBT. Thermogravimetric experiments provided evidence that PON promotes charring in both PA 6 and PBT. The mechanism of the char formation from PA 6 and PBT in the presence of PON was discussed on the basis of IR studies of solid residues produced in the thermal decomposition. The effective fire retardant action of PON in PA 6 is related to the interaction with the polymer to produce char, whereas the less effective activity of PON in PBT is related to the unfavorable acceleration of the evolution of combustible aliphatic fragments.     

Combined Impact of Magnetic Force and Spaceflight Conditions on Escherichia coli Physiology

Changes in bacterial physiology caused by the combined action of the magnetic force and microgravity were studied in Escherichia coli grown using a specially developed device aboard the International Space Station. The morphology and metabolism of E. coli grown under spaceflight (SF) or combined spaceflight and magnetic force (SF + MF) conditions were compared with ground cultivated bacteria grown under standard (control) or magnetic force (MF) conditions. SF, SF + MF, and MF conditions provided the up-regulation of Ag43 auto-transporter and cell auto-aggregation. The magnetic force caused visible clustering of non-sedimenting bacteria that formed matrix-containing aggregates under SF + MF and MF conditions. Cell auto-aggregation was accompanied by up-regulation of glyoxylate shunt enzymes and Vitamin B12 transporter BtuB. Under SF and SF + MF but not MF conditions nutrition and oxygen limitations were manifested by the down-regulation of glycolysis and TCA enzymes and the up-regulation of methylglyoxal bypass. Bacteria grown under combined SF + MF conditions demonstrated superior up-regulation of enzymes of the methylglyoxal bypass and down-regulation of glycolysis and TCA enzymes compared to SF conditions, suggesting that the magnetic force strengthened the effects of microgravity on the bacterial metabolism. This strengthening appeared to be due to magnetic force-dependent bacterial clustering within a small volume that reinforced the effects of the microgravity-driven absence of convectional flows.     

Myoelectric arm using artificial neural networks to reduce cognitive load of the user

Today’s multiple degree-of-freedom myoelectric prosthesis relies only on direct control by the processed electromyographic signal. However, it is difficult for the wearer to learn unnatural muscle contractions in order to wield more than three DoFs of the arm. This makes it almost impossible to use more complex prostheses with a larger number of actuators. Methods based on sensor–actuator loop and artificial intelligence may reduce cognitive load of the user by removing low level control, and an intelligent control system would make it needless to micromanage every action. For this purpose, sensor system for body segments motion capture was developed, as well as sensor system for prosthetic limb’s environment motion capture. Neural networks were designed to process data from the sensor systems. For the identification of the knee angle, orientation trackers were used. Neural network predictor of arm positions predicts the shoulder angle using the information about movement of the lower limb. In the case of the periodic/cyclic movements of the legs, such as walking, the control unit uses typical movement patterns of the healthy upper limb. Ultrasonic range sensors are used to create 3D map of objects in the environment around the arm. Neural network predictor of object positions predicts collisions. If the potential collisions are identified, the control unit stops arm movement. The new methods were verified by MATLAB and are designed as a part of assistive technology for disabled people and are to be understood as an original contribution to the investigation of new prosthesis control units and international debate on the design of new myoelectric prostheses.

     

Geometric and elastostatic calibration of robotic manipulator using partial pose measurements

The paper deals with the geometric and elastostatic calibration of robotic manipulator using partial pose measurements, which do not provide the end-effector orientation. The main attention is paid to the efficiency improvement of identification procedure. In contrast to previous works, the developed calibration technique is based on the direct measurements only. To improve the identification accuracy, it is proposed to use several reference points for each manipulator configuration. This allows avoiding the problem of non-homogeneity of the least-square objective, which arises in the classical identification technique with the full pose information (position and orientation). Its efficiency is confirmed by the comparison analysis, which deals with the accuracy evaluation of different identification strategies. The obtained theoretical results have been successfully applied to the geometric and elastostatic calibration of a serial industrial robot employed in a machining work cell for aerospace industry.