Thermal Stability Kinetics and Shelf Life Estimation of the Redox-Active Therapeutic and Mimic of Superoxide Dismutase Enzyme, Mn(III) meso-Tetrakis(N-ethylpyridinium-2-yl)porphyrin Chloride (MnTE-2-PyPCl5, BMX-010).

Mn(III) meso-tetrakis(N-ethylpyridinium-2-yl)porphyrin chloride (MnTE-2-PyPCl5, BMX-010, and AEOL10113) is among the most studied superoxide dismutase (SOD) mimics and redox-active therapeutics, being currently tested as a drug candidate in a phase II clinical trial on atopic dermatitis and itch. The thermal stability of active pharmaceutical ingredients (API) is useful for estimating the expiration date and shelf life of pharmaceutical products under various storage and handling conditions. The thermal decomposition and kinetic parameters of MnTE-2-PyPCl5 were determined by thermogravimetry (TG) under nonisothermal and isothermal conditions. The first thermal degradation pathway affecting Mn-porphyrin structural integrity and, thus, activity and bioavailability was associated with loss of ethyl chloride via N-dealkylation reaction. The thermal stability kinetics of the N-dealkylation process leading to MnTE-2-PyPCl5 decomposition was investigated by using isoconversional models and artificial neural network. The new multilayer perceptron (MLP) artificial neural network approach allowed the simultaneous study of ten solid-state kinetic models and showed that MnTE-2-PyPCl5 degradation is better explained by a combination of various mechanisms, with major contributions from the contraction models R1 and R2. The calculated activation energy values from isothermal and nonisothermal data were about 90 kJ mol-1 on average and agreed with one another. According to the R1 modelling of the isothermal decomposition data, the estimated shelf life value for 10% decomposition (t 90%) of MnTE-2-PyPCl5 at 25°C was approximately 17 years, which is consistent with the high solid-state stability of the compound. These results represent the first study on the solid-state decomposition kinetics of Mn(III) 2-N-alkylpyridylporphyrins, contributing to the development of this class of redox-active therapeutics and SOD mimics and providing supporting data to protocols on purification, handling, storage, formulation, expiration date, and general use of these compounds.

Electronic skins and machine learning for intelligent soft robots.

Soft robots have garnered interest for real-world applications because of their intrinsic safety embedded at the material level. These robots use deformable materials capable of shape and behavioral changes and allow conformable physical contact for manipulation. Yet, with the introduction of soft and stretchable materials to robotic systems comes a myriad of challenges for sensor integration, including multimodal sensing capable of stretching, embedment of high-resolution but large-area sensor arrays, and sensor fusion with an increasing volume of data. This Review explores the emerging confluence of e-skins and machine learning, with a focus on how roboticists can combine recent developments from the two fields to build autonomous, deployable soft robots, integrated with capabilities for informative touch and proprioception to stand up to the challenges of real-world environments.

Biomorphic structural batteries for robotics.

Batteries with conformal shape and multiple functionalities could provide new degrees of freedom in the design of robotic devices. For example, the ability to provide both load bearing and energy storage can increase the payload and extend the operational range for robots. However, realizing these kinds of structural power devices requires the development of materials with suitable mechanical and ion transport properties. Here, we report biomimetic aramid nanofibers-based composites with cartilage-like nanoscale morphology that display an unusual combination of mechanical and ion transport properties. Ion-conducting membranes from these aramid nanofiber composites enable pliable zinc-air batteries with cyclic performance exceeding 100 hours that can also serve as protective covers in various robots including soft and flexible miniaturized robots. The unique properties of the aramid ion conductors are attributed to the percolating network architecture of nanofibers with high connectivity and strong nanoscale filaments designed using a graph theory of composite architecture when the continuous aramid filaments are denoted as edges and intersections are denoted as nodes. The total capacity of these body-integrated structural batteries is 72 times greater compared with a stand-alone Li-ion battery with the same volume. These materials and their graph theory description enable a new generation of robotic devices, body prosthetics, and flexible and soft robotics with nature-inspired distributed energy storage.

Model-based observer and feedback control design for a rigid Joukowski foil in a Kármán vortex street.

Obstacles and swimming fish in flow create a wake with an alternating left/right vortex pattern known as a Kármán vortex street and reverse Kármán vortex street, respectively. An energy-efficient fish behavior resembling slaloming through the vortex street is called Kármán gaiting. This paper describes the use of a bioinspired array of pressure sensors on a Joukowski foil to estimate and control flow-relative position in a Kármán vortex street using potential flow theory, recursive Bayesian filtering, and trajectory-tracking feedback control. The Joukowski foil is fixed in downstream position in a flowing water channel and free to move on air bearings in the cross-stream direction by controlling its angle of attack to generate lift. Inspired by the lateral-line neuromasts found in fish, the sensing and control scheme is validated using off-the-shelf pressure sensors in an experimental testbed that includes a flapping device to create vortices. We derive a potential flow model that describes the flow over a Joukowski foil in a Kármán vortex street and identify an optimal path through a Kármán vortex street using empirical observability. The optimally observable trajectory is one that passes through each vortex in the street. The estimated vorticity and location of the Kármán vortex street are used in a closed-loop control to track either the optimally observable path or the energetically efficient gait exhibited by fish. Results from the closed-loop control experiments in the flow tank show that the artificial lateral line in conjunction with a potential flow model and Bayesian estimator allow the robot to perform fish-like slaloming behavior in a Kármán vortex street. This work is a precursor to an autonomous robotic fish sensing the wake of another fish and/or performing pursuit and schooling behavior.

The state of the art in biomimetics.

Biomimetics is a research field that is achieving particular prominence through an explosion of new discoveries in biology and engineering. The field concerns novel technologies developed through the transfer of function from biological systems. To analyze the impact of this field within engineering and related sciences, we compiled an extensive database of publications for study with network-based information analysis techniques. Criteria included publications by year and journal or conference, and subject areas judged by popular and common terms in titles. Our results reveal that this research area has expanded rapidly from less than 100 papers per year in the 1990s to several thousand papers per year in the first decade of this century. Moreover, this research is having impact across a variety of research themes, spanning robotics, computer science and bioengineering. In consequence, biomimetics is becoming a leading paradigm for the development of new technologies that will potentially lead to significant scientific, societal and economic impact in the near future.

Design and development of biomimetic quadruped robot for behavior studies of rats and mice.

This paper presents the design and development of a novel biomimetic quadruped robot for behavior studies of rats and mice. Many studies have been performed using these animals for the purpose of understanding human mind in psychology, pharmacology and brain science. In these fields, several experiments on social interactions have been performed using rats as basic studies of mental disorders or social learning. However, some researchers mention that the experiments on social interactions using animals are poorly-reproducible. Therefore, we consider that reproducibility of these experiments can be improved by using a robotic agent that interacts with an animal subject. Thus, we developed a small quadruped robot WR-2 (Waseda Rat No. 2) that behaves like a real rat. Proportion and DOF arrangement of WR-2 are designed based on those of a mature rat. This robot has four 3-DOF legs, a 2-DOF waist and a 1-DOF neck. A microcontroller and a wireless communication module are implemented on it. A battery is also implemented. Thus, it can walk, rear by limbs and groom its body.