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arXiv 2021年

作者： Keipour, Azarakhsh Pereira, Guilherme A.S. Bonatti, Rogerio Garg, Rohit Rastogi, Puru Dubey, Geetesh Scherer, Sebastian Robotics AI Amazon ArlingtonVA22202 United States Department of Mechanical and Aerospace Engineering West Virginia University MorgantownWV26506 United States Autonomous Systems Group Microsoft RedmondWA98052 United States Gather AI PittsburghPA15217 United States Mowito Bengaluru560091 India Robotics Institute Carnegie Mellon University PittsburghPA15213 United States

Many aerial robotic applications require the ability to land on moving platforms, such as delivery trucks and marine research boats. We present a method to autonomously land an Unmanned Aerial Vehicle on a moving vehicle. A visual servoing controller approaches the ground vehicle using velocity commands calculated directly in image space. The control laws generate velocity commands in all three dimensions, eliminating the need for a separate height controller. The method has shown the ability to approach and land on the moving deck in simulation, indoor and outdoor environments, and compared to the other available methods, it has provided the fastest landing approach. Unlike many existing methods for landing on fast-moving platforms, this method does not rely on additional external setups, such as RTK, motion capture system, ground station, offboard processing, or communication with the vehicle, and it requires only the minimal set of hardware and localization sensors. The videos and source codes are also provided. Copyright © 2021, The Authors. All rights reserved.

关键词： Visual servoing

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Pump-free microfluidic system for cell culture under flow 23

Pump-free microfluidic system for cell culture under flow

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23rd International Conference on Miniaturized Systems for Chemistry and Life Sciences, MicroTAS 2019

作者： Paknahad, Mohammad Ghahremani, Morvarid F. Horst, Caleb Simmons, Craig A. Translational Biology and Engineering Program Ted Rogers Centre for Heart Research Toronto Canada Department of Mechanical and Industrial Engineering Institute of Biomaterials and Biomedical Engineering University of Toronto Toronto Canada CellScale Biomaterials Testing Toronto Canada

ISBN: (纸本)9781733419000

Most common method to perform microfluidic endothelial cell culture under physiological flow is to use a pump, which can be cumbersome and requires complex connections and a large fluid dead volume. To address these limitations, which hinder widespread adoption, we present here a pump-free, simple, low-cost microfluidic system as a meaningful alternative to traditional flow culture systems. © 2019 CBMS-0001.

关键词： Microfluidics

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Effects of electrochemical synthetic conditions on surface property and photocatalytic performance of copper and iron-mixed p-type oxide electrodes

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Journal of Materials Science & Technology 2018年第9期34卷 1503-1510页

作者： Sun Hee Yoon Dong Suk Han Unseock Kang Seung Yo Choi Wubulikasimu Yiming Ahmed Abdel-Wahab Hyunwoong Park Chemical Engineering Program Texas A&M University at Qatar School of Energy Engineering Kyungpook National University Department of Mechanical Engineering Texas A&M University at Qatar

Earth-abundant copper and iron-mixed oxide（CuO/CuFeO_2; CFO） film electrodes are synthesized using an electrochemical deposition（ED） technique at two different ED potentials（-0.36 and-0.66 V vs saturated calomel electrode（SCE）; denoted as ED-1 and ED-2, respectively）. Then, their surface morphologies are compared, and the photo（electro）catalytic activities for the reduction of Cr（VI） are examined in aqueous solutions at pH 7 under simulated sunlight（AM 1.5 G; 100 mW cm（-2））. The degree of the electrical potential applied to the ED process significantly affects the thickness of the synthesized electrode film and the intensity ratio of the diffraction peaks of CuO（111） and CuFeO_2（012）. A 200 μm thick ED-2 sample with a distinct stacking of CuO on CuFeO_2 exhibits a larger broadband absorption spectrum than the 50-μm thick ED-1 with less separate stacking. Furthermore, the ED-2 sample has a higher intensity ratio of the diffraction peaks of CuO（111） and CuFe02（012） than ED-1. As-synthesized ED-2 samples produce larger photocurrents, leading to faster Cr（VI） reduction on the surface under given potential bias（-0.5 V vs SCE）or bias-free conditions. The energy levels（i.e., flatband potential） for the two samples are almost the same（only 10 mV difference）, presumably supposing that the enhanced photoactivity of the ED-2 sample for Cr（VI） reduction is due to the facilitated charge transfer. The time-resolved photoluminescence emission spectra analysis reveal that the lifetime（r） of the charge carriers in the ED-1 sample is 0.103 ns, which decreases to 0.0876 ns in the ED-2. The ED-2 sample synthesized at a high negative potential is expected to contribute greatly to the application of other solar-to-fuel energy conversion fields as a highly efficient electrode material.

关键词： Artificial photosynthesis Solar fuel Delafossites Morphology Charge transfer

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mechanical Regulation of Endocytosis: New Insights and Recent Advances (vol 4, 1900278, 2020)

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ADVANCED BIOSYSTEMS 2020年第8期4卷 e2000155页

作者： Joseph, Jophin G. Liu, Allen P. Department of Mechanical Engineering University of Michigan Ann Arbor MI 48109 USA Department of Biomedical Engineering University of Michigan Ann Arbor MI 48109 USA Cellular and Molecular Biology Program University of Michigan Ann Arbor MI 48109 USA Department of Biophysics University of Michigan Ann Arbor MI 48109 USA

Endocytosis is a mechanosensitive process. It involves remodeling of the plasma membrane from a flat shape to a budded morphology, often at the sub-micrometer scale. This remodeling process is energy-intensive and is influenced by mechanical factors such as membrane tension, membrane rigidity, and physical properties of cargo and extracellular surroundings. The cellular responses to a variety of mechanical factors by distinct endocytic pathways are important for cells to counteract rapid and extreme disruptions in the mechanohomeostasis of cells. Recent advances in microscopy and mechanical manipulation at the cellular scale have led to new discoveries of mechanoregulation of endocytosis by the aforementioned factors. While factors such as membrane tension and membrane rigidity are generally shown to inhibit endocytosis, other mechanical stimuli have complex relationships with endocytic pathways. At this juncture, it is now possible to utilize experimental techniques to interrogate theoretical predictions on mechanoregulation of endocytosis in cells and even living organisms.

关键词： clathrin-mediated endocytosis endocytosis pathways mechanobiology mechanotargeting mechanotransduction

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LUCIDGames: onLine unscented inverse dynamic games for adaptive trajectory prediction and planning

arXiv

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arXiv 2020年

作者： Le Cleac’h, Simon Schwager, Mac Manchester, Zachary Department of Mechanical Engineering Stanford University California United States Department of Aeronautics & Astronautics Stanford University California United States Robotics Institute Carnegie Mellon University Pennsylvania United States

Existing game-theoretic planning methods assume that the robot knows the objective functions of the other agents a priori while, in practical scenarios, this is rarely the case. This paper introduces LUCIDGames, an inverse optimal control algorithm that is able to estimate the other agents’ objective functions in real time, and incorporate those estimates online into a receding-horizon game-theoretic planner. LUCIDGames solves the inverse optimal control problem by recasting it in a recursive parameter-estimation framework. LUCIDGames uses an unscented Kalman filter (UKF) to iteratively update a Bayesian estimate of the other agents’ cost function parameters, improving that estimate online as more data is gathered from the other agents’ observed trajectories. The planner then takes account of the uncertainty in the Bayesian parameter estimates of other agents by planning a trajectory for the robot subject to uncertainty ellipse constraints. The algorithm assumes no explicit communication or coordination between the robot and the other agents in the environment. An MPC implementation of LUCIDGames demonstrates real-time performance on complex autonomous driving scenarios with an update frequency of 40 Hz. Empirical results demonstrate that LUCIDGames improves the robot’s performance over existing game-theoretic and traditional MPC planning approaches. Our implementation of LUCIDGames is available at https://***/RoboticExplorationLab/***. Copyright © 2020, The Authors. All rights reserved.

关键词： Game theory

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Correction: Optimization of misfit calcium cobaltite oxygen electrodes for solid oxide fuel cells through electrospinning processing

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Journal of Materials Chemistry A 2024年第40期12卷 27777-27777页

作者： Allan J. M. Araújo Itzhak I. Maor Laura I. V. Holz Meirav Mann-Lahav Vadim Beilin Armin Feldhoff Gideon S. Grader Francisco J. A. Loureiro Department of Mechanical Engineering TEMA – Centre for Mechanical Technology and Automation University of Aveiro 3810-193 Aveiro Portugal LASI – Intelligent Systems Associate Laboratory Guimarães Portugal Wolfson Department of Chemical Engineering Technion – Israel Institute of Technology 3200003 Haifa Israel Institute of Physical Chemistry and Electrochemistry Leibniz University Hannover 30167 Hannover Germany The Nancy & Stephan Grand Technion Energy Program (GTEP) Technion – Israel Institute of Technology 3200003 Haifa Israel

Correction for ‘Optimization of misfit calcium cobaltite oxygen electrodes for solid oxide fuel cells through electrospinning processing’ by Allan J. M. Araújo et al., J. Mater. Chem. A, 2024, https://***/10.10...

Correction for ‘Optimization of misfit calcium cobaltite oxygen electrodes for solid oxide fuel cells through electrospinning processing’ by Allan J. M. Araújo et al., J. Mater. Chem. A, 2024, https://***/10.1039/D4TA04085F.

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Kinematic analysis of scissor-like elements using dual quaternions

Research Square

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Research Square 2020年

作者： Grijalva, Juan Gabriel Guerrero De Pieri, Edson Roberto Federal University of Santa Catarina Control and Automation Laboratory Florianopolis88040-900 Brazil Department of Mechanical Engineering Raul Guenther Robotics Laboratory Florianopolis88040-900 Brazil

This paper presents a standard approach, based on dual quaternions (DQ), to deal with the kinematic analysis of scissor-like elements (SLE). Kinematic relations of homogeneous SLE are simplified by using DQ exponentiation. The steps to identify kinematic singularities are detailed by an algorithm. A second algorithm is introduced to deal with the computation and plotting of reachable and dexterous workspace. In this approach, not just points and vectors, but lines and planes are represented by DQ. The motion of points, lines and planes can be appreciated in practical examples based on domotics. © 2020, CC BY.

关键词： Kinematics

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Open-radiomics: A Collection of Standardized Datasets and a Technical Protocol for Reproducible Radiomics Machine Learning Pipelines

arXiv

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arXiv 2022年

作者： Namdar, Khashayar Wagner, Matthias W. Ertl-Wagner, Birgit B. Khalvati, Farzad TorontoON Canada Neurosciences & Mental Health Research Program SickKids Research Institute TorontoON Canada Department of Medical Imaging University of Toronto TorontoON Canada Institute of Medical Science University of Toronto TorontoON Canada Department of Diagnostic and Interventional Neuroradiology University Hospital Augsburg Germany Department of Computer Science University of Toronto TorontoON Canada Department of Mechanical and Industrial Engineering University of Toronto TorontoON Canada Vector Institute TorontoON Canada NVIDIA Deep Learning Institute AustinTX United States

Purpose: As an important branch of machine learning pipelines in medical imaging, radiomics faces two major challenges namely reproducibility and accessibility. In this work, we introduce open-radiomics, a set of radiomics datasets along with a comprehensive radiomics pipeline based on our proposed technical protocol to investigate the effects of radiomics feature extraction on the reproducibility of the results. Materials and Methods: Experiments are conducted on BraTS 2020 open-source Magnetic Resonance Imaging (MRI) dataset that includes 369 adult patients with brain tumors (76 low-grade glioma (LGG), and 293 high-grade glioma (HGG)). Using PyRadiomics library for LGG vs. HGG classification, 288 radiomics datasets are formed;the combinations of 4 MRI sequences, 3 binWidths, 6 image normalization methods, and 4 tumor subregions. Random Forest classifiers were used, and for each radiomics dataset the training-validation-test (60%/20%/20%) experiment with different data splits and model random states was repeated 100 times (28,800 test results) and Area Under Receiver Operating Characteristic Curve (AUC) was calculated. Results: Unlike binWidth and image normalization, tumor subregion and imaging sequence significantly affected performance of the models. T1 contrast-enhanced sequence and the union of necrotic and the non-enhancing tumor core subregions resulted in the highest AUCs (average test AUC 0.951, 95% confidence interval of (0.949, 0.952)). Although 28 settings and data splits yielded test AUC of 1, they were irreproducible. Conclusion: Our experiments demonstrate the sources of variability in radiomics pipelines (e.g., tumor subregion) can have a significant impact on the results, which may lead to superficial perfect performances that are irreproducible. Copyright © 2022, The Authors. All rights reserved.

关键词： Tumors

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Flow Compensation for Hydraulic Direct-Drive System with a Single-rod Cylinder Applied to Biped Humanoid Robot

Flow Compensation for Hydraulic Direct-Drive System with a S...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： J. Shimizu T. Otani H. Mizukami K. Hashimoto A. Takanishi Graduate School of Advanced Science and Engineering Waseda University and is also a researcher at Hitachi Ltd Tokyo JAPAN Department of Modern Mechanical Engineering Waseda University and is is also a researcher at the Humanoid Robotics Institute (HRI) Waseda University Graduate School of Creative Science and Engineering Waseda University School of Science and Technology Meiji University and is also a researcher at the Humanoid Robotics Institute Waseda University and is the director of the Humanoid Robotics Institute Waseda University

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Biped robots require massive power on each leg while walking, hopping, and running. We have developed a flow-based control system-called hydraulic direct drive system- that can achieve high output while avoiding spatial limitations. To implement the proposed system with simple equipment configuration, a pump and single-rod cylinder are connected in a closed loop. However, because compensation for flow rate is impossible in a completely closed loop, owing to the difference in the pressure receiving area caused by the rod, a passive flow compensation valve is employed. This valve has a simple structure and is easy to implement. Further, an additional sensor is required to detect the open/close state because the valve state will cause an error in flow control. Therefore, we implemented a model in the controller to predict the state of the flow compensation valve and formulated a method of switching from flow control to pressure control according to the predicted state. Experimental results indicate that the error of the joint angle is reduced to less than 1.6 degrees for walking patterns, and stable walking is realized when the system is installed in biped humanoid robots.

关键词： Conferences Automation

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Detection and isolation of free cancer cells from ascites and peritoneal lavages using optically induced electrokinetics (OEK) (vol 6, eaba9628, 2020)

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SCIENCE ADVANCES 2020年第49期6卷 eaba9628页

作者： Zhang, Y. Zhao, J. Yu, H. Li, P. Liang, W. Liu, Z. Lee, G-B. Liu, L. Li, W. J. Wang, Z. State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China. Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110169 China. University of Chinese Academy of Sciences Beijing 100049 China. Department of Surgical Oncology and General Surgery the First Hospital of China Medical University Shenyang China. Key Laboratory of Precision Diagnosis and Treatment of Gastrointestinal Tumors Ministry of Education Shenyang China. School of Mechanical Engineering Shenyang Jianzhu University Shenyang 110168 China. Department of Power Mechanical Engineering National Tsing Hua University Hsinchu Taiwan. Department of Mechanical Engineering City University of Hong Kong Hong Kong China.

Detection of free gastric cancer cells in peritoneal lavages and ascites plays a vital role in gastric cancer. However, due to the low content of cancer cells in patients’ peritoneal lavages, traditional detection methods lack sensitivity and cannot satisfy clinical demand. In this study, we used an optically induced electrokinetics (OEK) microfluidic method for label-free separation and characterization of patient gastric cancer cells. This method showed high effectiveness and sensitivity. We successfully separated cancer cells from a simulated peritoneal lavage mixture of gastric cancer cell lines and peritoneal lavage cells in a ratio of 1:1000. We further separated gastric cancer cells from six patients’ ascites with purity up to 71%. In addition, we measured the cell membrane capacitances, which may be used as a biomarker for gastric cancer cells. Thus, our method can be used to effectively and rapidly detect peritoneal metastasis and to acquire cellular electrical information.

关键词： Cancer cells

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