Aim: Homocysteine (Hcy) can elicit neuronal cell death, and hyperhomocysteinemia is a strong independent risk factor for Alzheimer's disease. The aim of this study was to examine the effects of hydrogen sulfide (H 2 S) on Hcy-induced endoplasmic reticulum (ER) stress and neuronal apoptosis in rat hippocampus. Methods: Adult male SD rats were intracerebroventricularly (icv) injected with Hcy (0.6 μmol/d) for 7 d. Before Hcy injection, the rats were treated with NaHS (30 or 100 μmol·kg -1 ·d -1 , ip) and/or k252a (1 μg/d, icv) for 2 d. The apoptotic neurons were detected in hippocampal coronal slices with TUNEL staining. The expression of glucose regulated protein 78 (GRP78), C/EBP homologous protein (CHOP), cleaved caspase-12, and BDNF in the hippocampus were examined using Western blotting assays. The generation of H 2 S in the hippocampus was measured with the NNDPD method. Results: Hcy markedly inhibited the production of endogenous H 2 S and increased apoptotic neurons in the hippocampus. Furthermore, Hcy induced ER stress responses in the hippocampus, as indicated by the upregulation of GRP78, CHOP, and cleaved caspase-12. Treatment with the H 2 S donor NaHS increased the endogenous H 2 S production and BDNF expression in a dosedependent manner, and significantly reduced Hcy-induced neuronal apoptosis and ER stress responses in the hippocampus. Treatment with k252a, a specific inhibitor of TrkB (the receptor of BDNF), abolished the protective effects of NaHS against Hcy-induced ER stress in the hippocampus. Conclusion: H 2 S attenuates ER stress and neuronal apoptosis in the hippocampus of Hcy-treated rats via upregulating the BDNF-TrkB pathway.

As researched suspension mobile manipulator system,its control method was discussed. Based on vector method any point on this mobile manipulator system can be described, then independent coordinate variables can be chosen and dynamic model of the whole system was built by Lagrange equation. Based on dynamic model, fuzzy PID control model was built by fuzzy concept. Comparing simulation result of level velocity of point in mobile under no-feedback, PID control and fuzzy PID control, it was proved that MATLAB, this method can be more effective on the mobile manipulator system.

Foot trajectory is a significant factor which affects the movenent performances of the hexapod robot directly. In order to plan efficient and effective foot trajectories for different terrains, the kinematics of the robot is analyzed and two kinds of parametric foot trajectories for different terrains are proposed to achieve foot transfer between the footholds efficiently in this paper. To verify the effectiveness of the parametric foot trajectory planning method, different simulations tailored for a virtual prototype have been conducted. The results certify that the robot can plan an appropriate parametric foot trajectory for differnt terrains efficiently only by setting key parameters and this trajectory can be executed easily by revolving joints harmonically.

The robot adopts a mobile platform designed for post-disaster environment information collection which can deform passively .The robot deforms when the robot is cross obstacles, the robot will reset after through the obstacles. Mobile platform's reset ability is determined by the reset parameters, reset parameters include spring stiffness, initial length, and installation position. The relationship between ground constraints and reset spring is established by static analysis; optimization of reset spring parameters is conducted by using the least energy consumption in the attitude changing as a target in Matlab. The optimized parameters reduce the energy cost effectively in the condition of satisfying the movement requirements, which verifies the correctness of the optimization results.