Impacts of di-(2-ethylhexyl) phthalate on Folsomia candida (Collembola) assessed with a multi-biomarker approach.

Di-(2-ethylhexyl) phthalate (DEHP) is extensively used as an additive to produce plastics, but it may damage non-target organisms in soil. In this study, the effects of DEHP on Folsomia candida in terms of survival, reproduction, enzyme activities, and DNA damage were investigated in spiked artificial soil using a multi-biomarker strategy. The 7-day LC50 (median lethal concentration) and 28-day EC50 (median effect concentration) values of DEHP were 1256.25 and 19.72 mg a.i. (active ingredient) kg-1 dry soil, respectively. Biomarkers involved in antioxidant defense including catalase (CAT-catalase), glutathione S-transferases (GST), detoxifying enzymes including acetylcholinesterase (AChE), Cytochrome P450 (CYP450), and peroxidative damage (LPO-lipid peroxide) were also measured (EC10, EC20, and EC50) after exposure for 2, 4, 7, and 14 days. The Comet assay was also applied to assess the level of genetic damage. The activity of CAT and LPO was drastically enhanced by the highest dose (EC50) of DEHP on day two. The activities of GST and AChE in DEHP treatment groups were found to be blocked. In contrast, the activity of CYP450 was significantly enhanced compared to the respective control groups during the first four days of incubation. The Comet assay in F.candida demonstrated that DEHP (EC50) could induce DNA damage. The obtained multi-biomarker data were analyzed using an integrated biomarker response (IBR) index, indicating that limited-time exposure triggered higher stress than long-term exposure at low concentrations of DEHP. These results demonstrate that DEHP may cause biochemical and genetic toxicity to F. candida, which illustrated the potential risks of DEHP in the soil environment and might affect soil ecosystem processes. Further studies are necessary to elucidate the toxic mechanisms of DEHP on other non-target organisms in soil.

Gait Planning and Stability Control of a Quadruped Robot.

In order to realize smooth gait planning and stability control of a quadruped robot, a new controller algorithm based on CPG-ZMP (central pattern generator-zero moment point) is put forward in this paper. To generate smooth gait and shorten the adjusting time of the model oscillation system, a new CPG model controller and its gait switching strategy based on Wilson-Cowan model are presented in the paper. The control signals of knee-hip joints are obtained by the improved multi-DOF reduced order control theory. To realize stability control, the adaptive speed adjustment and gait switch are completed by the real-time computing of ZMP. Experiment results show that the quadruped robot's gaits are efficiently generated and the gait switch is smooth in the CPG control algorithm. Meanwhile, the stability of robot's movement is improved greatly with the CPG-ZMP algorithm. The algorithm in this paper has good practicability, which lays a foundation for the production of the robot prototype.