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Search: WFRF:(Kozlov Alex)

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1.
  • Kozlov, Alex, et al. (author)
  • Development of a Search and Rescue field robotic assistant
  • 2013
  • In: 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR). - : IEEE. - 9781479908806 - 9781479908790
  • Conference paper (peer-reviewed)abstract
    • The work introduced in this paper was performed as part of the FP7 INTRO (Marie-Curie ITN) project. We describe the activities undertaken towards the development of a field robotic assistant for a Search and Rescue application. We specifically target a rubble clearing task, where the robot will ferry small pieces of rubble between two waypoints assigned to it by the human. The aim is to complement a human worker with a robotic assistant for this task, while maintaining a comparable level of speed and efficiency in the task execution. Towards this end we develop/integrate software capabilities in mobile navigation, arm manipulation and high level tasks sequences learning. Early outdoor experiments carried out in a quarry are furthermore introduced.
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2.
  • Wells, Daniel J., et al. (author)
  • Observations of phase changes in monoolein during high viscous injection
  • 2022
  • In: Journal of Synchrotron Radiation. - : International Union Of Crystallography. - 0909-0495 .- 1600-5775. ; 29:3, s. 602-614
  • Journal article (peer-reviewed)abstract
    • Serial crystallography of membrane proteins often employs high-viscosity injectors (HVIs) to deliver micrometre-sized crystals to the X-ray beam. Typically, the carrier medium is a lipidic cubic phase (LCP) media, which can also be used to nucleate and grow the crystals. However, despite the fact that the LCP is widely used with HVIs, the potential impact of the injection process on the LCP structure has not been reported and hence is not yet well understood. The self-assembled structure of the LCP can be affected by pressure, dehydration and temperature changes, all of which occur during continuous flow injection. These changes to the LCP structure may in turn impact the results of X-ray diffraction measurements from membrane protein crystals. To investigate the influence of HVIs on the structure of the LCP we conducted a study of the phase changes in monoolein/water and monoolein/buffer mixtures during continuous flow injection, at both atmospheric pressure and under vacuum. The reservoir pressure in the HVI was tracked to determine if there is any correlation with the phase behaviour of the LCP. The results indicated that, even though the reservoir pressure underwent (at times) significant variation, this did not appear to correlate with observed phase changes in the sample stream or correspond to shifts in the LCP lattice parameter. During vacuum injection, there was a three-way coexistence of the gyroid cubic phase, diamond cubic phase and lamellar phase. During injection at atmospheric pressure, the coexistence of a cubic phase and lamellar phase in the monoolein/water mixtures was also observed. The degree to which the lamellar phase is formed was found to be strongly dependent on the co-flowing gas conditions used to stabilize the LCP stream. A combination of laboratory-based optical polarization microscopy and simulation studies was used to investigate these observations.
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