Cyanea capillata bell kinematics analysis through corrected in situ imaging and modeling using strategic discretization techniques.

Obtaining accurate kinematic data of animals is essential for many biological studies and bio-inspired engineering. Many animals, however, are either too large or too delicate to transport to controlled environments where accurate kinematic data can be easily obtained. Often, in situ recordings are the only means available but are often subject to multi-axis motion and relative magnification changes with time leading to large discrepancies in the animal kinematics. Techniques to compensate for these artifacts were applied to a large jellyfish, Cyanea capillata, freely swimming in ocean waters. The bell kinematics were captured by digitizing exumbrella profiles for two full swimming cycles. Magnification was accounted for by tracking a reference point on the ocean floor and by observing the C. capillata exumbrella arclength in order to have a constant scale through the swimming cycles. A linear fit of the top bell section was used to find the body angle with respect to the camera coordinate system. Bell margin trajectories over two swimming cycles confirmed the accuracy of the correction techniques. The corrected profiles were filtered and interpolated to provide a set of time-dependent points along the bell. Discrete models of the exumbrella were used to analyze the bell kinematics. Exumbrella discretization was conducted using three different methods. Fourier series were fitted to the discretized models and subsequently used to analyze the bell kinematics of the C. capillata. The analysis showed that the bell did not deform uniformly over time with different segments lagging behind each other. Looping of the bell trajectory between contraction and relaxation was also present through most of the exumbrella. The bell margin had the largest looping with an outer path during contraction and inner path during relaxation. The subumbrella volume was approximated based on the exumbrella kinematics and was found to increase during contraction.

Flexible margin kinematics and vortex formation of Aurelia aurita and Robojelly.

The development of a rowing jellyfish biomimetic robot termed as "Robojelly", has led to the discovery of a passive flexible flap located between the flexion point and bell margin on the Aurelia aurita. A comparative analysis of biomimetic robots showed that the presence of a passive flexible flap results in a significant increase in the swimming performance. In this work we further investigate this concept by developing varying flap geometries and comparing their kinematics with A. aurita. It was shown that the animal flap kinematics can be replicated with high fidelity using a passive structure and a flap with curved and tapered geometry gave the most biomimetic performance. A method for identifying the flap location was established by utilizing the bell curvature and the variation of curvature as a function of time. Flaps of constant cross-section and varying lengths were incorporated on the Robojelly to conduct a systematic study of the starting vortex circulation. Circulation was quantified using velocity field measurements obtained from planar Time Resolved Digital Particle Image Velocimetry (TRDPIV). The starting vortex circulation was scaled using a varying orifice model and a pitching panel model. The varying orifice model which has been traditionally considered as the better representation of jellyfish propulsion did not appear to capture the scaling of the starting vortex. In contrast, the pitching panel representation appeared to better scale the governing flow physics and revealed a strong dependence on the flap kinematics and geometry. The results suggest that an alternative description should be considered for rowing jellyfish propulsion, using a pitching panel method instead of the traditional varying orifice model. Finally, the results show the importance of incorporating the entire bell geometry as a function of time in modeling rowing jellyfish propulsion.

Biomimetic autonomous robot inspired by the Cyanea capillata (Cyro).

A biomimetic robot inspired by Cyanea capillata, termed as 'Cyro', was developed to meet the functional demands of underwater surveillance in defense and civilian applications. The vehicle was designed to mimic the morphology and swimming mechanism of the natural counterpart. The body of the vehicle consists of a rigid support structure with linear DC motors which actuate eight mechanical arms. The mechanical arms in conjunction with artificial mesoglea create the hydrodynamic force required for propulsion. The full vehicle measures 170 cm in diameter and has a total mass of 76 kg. An analytical model of the mechanical arm kinematics was developed. The analytical and experimental bell kinematics were analyzed and compared to the C. capillata. Cyro was found to reach the water surface untethered and autonomously from a depth of 182 cm in five actuation cycles. It achieved an average velocity of 8.47 cm s(-1) while consuming an average power of 70 W. A two-axis thrust stand was developed to calculate the thrust directly from a single bell segment yielding an average thrust of 27.9 N for the whole vehicle. Steady state velocity during Cyro's swimming test was not reached but the measured performance during its last swim cycle resulted in a cost of transport of 10.9 J (kg ⋅ m)(-1) and total efficiency of 0.03.

Biomimetic and live medusae reveal the mechanistic advantages of a flexible bell margin.

Flexible bell margins are characteristic components of rowing medusan morphologies and are expected to contribute towards their high propulsive efficiency. However, the mechanistic basis of thrust augmentation by flexible propulsors remained unresolved, so the impact of bell margin flexibility on medusan swimming has also remained unresolved. We used biomimetic robotic jellyfish vehicles to elucidate that propulsive thrust enhancement by flexible medusan bell margins relies upon fluid dynamic interactions between entrained flows at the inflexion point of the exumbrella and flows expelled from under the bell. Coalescence of flows from these two regions resulted in enhanced fluid circulation and, therefore, thrust augmentation for flexible margins of both medusan vehicles and living medusae. Using particle image velocimetry (PIV) data we estimated pressure fields to demonstrate a mechanistic basis of enhanced flows associated with the flexible bell margin. Performance of vehicles with flexible margins was further enhanced by vortex interactions that occur during bell expansion. Hydrodynamic and performance similarities between robotic vehicles and live animals demonstrated that the propulsive advantages of flexible margins found in nature can be emulated by human-engineered propulsors. Although medusae are simple animal models for description of this process, these results may contribute towards understanding the performance of flexible margins among other animal lineages.

A biomimetic robotic jellyfish (Robojelly) actuated by shape memory alloy composite actuators.

An analysis is conducted on the design, fabrication and performance of an underwater vehicle mimicking the propulsion mechanism and physical appearance of a medusa (jellyfish). The robotic jellyfish called Robojelly mimics the morphology and kinematics of the Aurelia aurita species. Robojelly actuates using bio-inspired shape memory alloy composite actuators. A systematic fabrication technique was developed to replicate the essential structural features of A. aurita. Robojelly's body was fabricated from RTV silicone having a total mass of 242 g and bell diameter of 164 mm. Robojelly was able to generate enough thrust in static water conditions to propel itself and achieve a proficiency of 0.19 s(-1) while the A. aurita achieves a proficiency of around 0.25 s(-1). A thrust analysis based on empirical measurements for a natural jellyfish was used to compare the performance of the different robotic configurations. The configuration with best performance was a Robojelly with segmented bell and a passive flap structure. Robojelly was found to consume an average power on the order of 17 W with the actuators not having fully reached a thermal steady state.

Central cannabinoid 1 receptor antagonist administration prevents endotoxic hypotension affecting norepinephrine release in the preoptic anterior hypothalamic area.

It is widely assumed that LPS lowers arterial pressure during sepsis by stimulating release of TNF-alpha and other vasoactive mediators from macrophages. However, recent data from this and other laboratories have shown that LPS hypotension can be prevented by inhibiting afferent impulse flow in the vagus nerve, by blocking neuronal activity in the nucleus of the solitary tract, or by blocking alpha-adrenergic receptors in the preoptic area/anterior hypothalamic area (POA). These findings suggest that the inflammatory signal is conveyed from the periphery to the brain via the vagus nerve, and that endotoxic shock is mediated through a central mechanism that requires activation of POA neurons. In the present study, we tested whether central cannabinoid 1 (CB1) receptors participate in the control of arterial pressure during endotoxemia based on evidence that hypothalamic neurons express CB1 receptors and synthesize the endogenous CB anandamide. We found that intracerebroventricular administration of rimonabant, a CB1 receptor antagonist, inhibited the fall in arterial pressure evoked by LPS significantly in both conscious and anesthetized rats. Rimonabant attenuated both the immediate fall in arterial pressure evoked by LPS and the second, delayed hypotensive phase that leads to tissue ischemia and death. Rimonabant also prevented the associated LPS-induced rise in extracellular fluid norepinephrine concentrations in the POA. Furthermore, rimonabant attenuated the associated increase in plasma TNF-alpha concentrations characteristic of the late phase of endotoxic hypotension. These data indicate that central CB1 receptors may play an important role in the initiation of endotoxic hypotension.

Plan estratégico del Municipio de Sucre

Ante el actual estado de salud debe conformarse la Red de Servicios de Salud, mejorar las calidad de las prestaciones, el subsistema de referencia y contrareferencia, capacitación permanente, cantidad necesaria de servicios, ante todo la participación de las organizaciones de base para un mejor control técnico-administrativo que deben ser concertados entre los múltiples, prestadores y así cada sub-sector pueda asumir sus roles, competencias y funciones para resolver las múltiples necesidades actuales en un proceso sinérgico interinstitucional, donde el plan de Desarollo Municipal (PDM) como política Municipal y Regional y autogestionario y sostenible

Plan estratégico del Municipio de Sucre / Strategic Plan of the Municipality of Sucre

Considerando que la salud es una responsabilidad de primer orden del Estado y de los Gobiernos Municipales, la HAM de la ciudad de Sucre se encuentra desarrollando una política de Sucre como Centro Médico que busca el mejoramiento de los servicios médicos y hospitalarios de esta manera la calidad de vida de la población de Sucre y Chuquisaca.En concordancia con la política de salud en vigencia (PES) que promueve la descentralización Técnica Administrativa se considera como pilar fundamental promover y conseguir el bienestar de la comunidad mejorando e implementando un sistema de salud local enmarcado en la implementación de la Ley de Participación Popular que transfieres a título gratuito a los gobiernos Municipales el derecho propietario de la infraestructura física de los servicios de salud del 1er 2do y 3er nivel de atención. Se establece un marco jurídico que amplia las competencias Municipales en el Área Administrativa relacionados con el mantenimiento y renovación de la infraestructura, mobiliario e insumos (Ley 1551 art. 13, Inc. B).

Plan estrategico del Muncipio de Sucre / sss

Ante el actual estado de salud debe conformarse la Red de Servicios, mejorar la calidad de las prestaciones, el subsistema de referencia y contrareferencia capacitacion permanente, cantidad necesaria de servicios, ante todo la participacion de las organizaciones de base para mejorar el control tecnico administrativo que deben ser concertados entre los multiples prestadores y asi cas sub-sector puede asumir sus roles, competencias y funciones para resolver las multiples necesidades actuales en un proceso sinergico interinstitucional; donde el plan estrategico de saluud debera formar parte del Plan de Desarrollo Municipal (PDM) como politica Municipal y Regional autogestionario y sostenible...