Controlling free flight of a robotic fly using an onboard vision sensor inspired by insect ocelli

Scaling a flying robot down to the size of a fly or bee requires advances in manufacturing, sensing and control, and will provide insights into mechanisms used by their biological counterparts. Controlled flight at this scale has previously required external cameras to provide the feedback to regulate the continuous corrective manoeuvres necessary to keep the unstable robot from tumbling. One stabilization mechanism used by flying insects may be to sense the horizon or Sun using the ocelli, a set of three light sensors distinct from the compound eyes. Here, we present an ocelli-inspired visual sensor and use it to stabilize a fly-sized robot. We propose a feedback controller that applies torque in proportion to the angular velocity of the source of light estimated by the ocelli. We demonstrate theoretically and empirically that this is sufficient to stabilize the robot''s upright orientation. This constitutes the first known use of onboard sensors at this scale. Dipteran flies use halteres to provide gyroscopic velocity feedback, but it is unknown how other insects such as honeybees stabilize flight without these sensory organs. Our results, using a vehicle of similar size and dynamics to the honeybee, suggest how the ocelli could serve this role.     

Compensation of impedance meters, when using an external front-endamplifier

Four-terminal impedance meters based on pseudo-bridges yield unexpected uncertainties when using high-contact-impedance electrodes. Adding a front-end amplifier to the impedance meter and rearranging the connection of the meter terminals overcome the contact impedance problem. However, because the compensation provisions in the instrument are meant to compensate only impedance residuals of test fixtures, by either an open/short or an open/short/load correction procedure, the external front-end increases the inaccuracy of the measurement setup. This paper shows that an open/short/load correction can also compensate complicated impedance residuals such as those from external amplifiers. The paper details the correction procedure and provides the equations to calculate the impedance under test from the readings of the impedance meter     

Determination of motility forces of bovine sperm cells using an "optical funnel"

An optical funnel, a new technique for the evaluation of the force of a microorganism, was applied to the determination of the motility force of bovine sperm cells. In this approach, sperm cells, suspended in an aqueous solution, are introduced into a flow cell, to which radiation pressure is applied from the direction opposite to a medium flow. The sperm cell, which is moving in a stream, is captured by radiation pressure and forced to move to the position at which the force induced by the laser radiation is equal to the force induced by a medium flow. The sperm cell then escapes by its own power on the way to this equilibrium (entrapping) position. The radiation force increases with decreasing distance from the focal point, and as a result, the force of the sperm cell can be determined by measuring the position where the sperm cell escaped against the laser irradiation field. The motility force of the sperm cell was measured in aqueous solution at different pH values and potassium ion concentrations. It was possible to measure more than 250 sperm cells in 3 h. Thus, the optical funnel has potential for use as a rapid and repetitive means for the determination of the motility force of the sperm cell.     

Monitoring local strains in cracked cross-ply composites using an embedded aramid fibre strain sensor

Single aramid fibre strain sensors have been embedded in transparent glass-fibre reinforced epoxy resin cross-ply laminates. The sensors, located at the 0°/90°/0° ply interfaces, were interrogated by a remote laser Raman microprobe which enabled the changes in the longitudinal strain in the 0° plies caused by transverse cracking in the 90° ply to be monitored. Strain magnifications of up to about 6 were measured in the crack plane, 10 m from the 0°/90° ply interface, and it is estimated that the region of enhanced strain extends to a distance of about 40 m from the interface. Crack interactions were seen to occur for crack spacings of less than two transverse ply thicknesses.     

An in-depth analysis of electric cell-substrate impedance sensing to study the attachment and spreading of mammalian cells

The attachment and spreading of fibroblast cells on a gold surface coated with fibronectin or ovalbumin were studied by a modified electric cell-substrate impedance sensor. In this system, cells were cultured in a well, equipped with a detecting gold electrode (surface area of 0.057 mm2) and a gold counter electrode (18 mm2). Based on a comprehensive theoretical framework, the impedance of the electrode-electrolyte interface and a cell layer was precisely obtained for frequencies ranging from 1 to 10 kHz. Surface concentrations of the protein adsorbed on the gold surface were determined by a surface plasmon resonance biosensor. The resistance change of the electrode-electrolyte interface at 4 kHz increased linearly with the number of fibroblast cells attached on the detecting electrode. The slope of the linear relationship appeared to depend on the type of coating protein. As the surface area occupied by the cells was also proportional to the cell number, the resistance change was in turn proportional to the area covered by the cells.     

Monitoring of hygrothermal ageing effects in an epoxy resin using FBG sensor: A methodological study

This study demonstrates the feasibility of using fibre Bragg grating (FBG) sensors to monitor the effects of hygrothermal ageing on the axial strains in a cylindrical epoxy specimen with a centrally located optical glass fibre. A 24 mm long FBG, inscribed on the fibre, is used to monitor the moisture absorption in the epoxy, immersed in distilled water at 50 °C for 2330 h. Hygromechanical simulations support the experimental strain data when the first part of the absorption process is neglected or when a variable coefficient of moisture expansion is used. Also, the effects of using average moisture or when it is distributed according to Fick’s law are negligible. The FBG response also indicates the appearance of progressive debonding after sufficient exposure to moisture.     

Micropallet arrays for the separation of single, adherent cells

The selection and collection of single cells from within a heterogeneous population is required to produce genetically engineered cell lines, to develop new stem cell lines, and for single-cell studies. We describe a new platform for the positive selection of single live mammalian cells while the cells remain adherent to their growth surface. Cells were grown on arrays of microfabricated, releasable elements composed of SU-8 polymer termed "cell pallets". The presence of air between the elements restricted the cells to the top surfaces of the pallets. Single pallets situated within large arrays of pallets were released on demand using a single, focused, laser pulse. The laser pulses were low in energy (2-5 muJ) and did not detach nearby, nontargeted pallets. Since the SU-8 pallets and the underlying glass substrate were optically transparent, the cells on the pallets could be visualized by microscopy before and after release. Over 90% of cells remained attached to the pallet during laser-based release. The feasibility of growing the cells from the released pallets into clonal colonies was demonstrated. The pallet array system permits adherent cells to be inspected using conventional microscopy and selected cells released for further analysis. The ability to assess cells while they remain adherent to a surface will broaden the number of attributes that can be utilized for cell separation, for example, cell shape, cytoskeletal properties, and other attributes.     

Monitoring of concrete at very early age using stiff SOFO sensor

The SOFO system is based on low-coherence interferometry in single-mode fibres and allows the measurement of deformations in civil structures built with classical civil engineering materials (concrete, steel and wood). It has been successfully tested in different types of structures such as bridges, dams, tunnels and piles. In order to monitor behaviour of concrete at the very early age a stiff SOFO sensor has been developed. Using standard SOFO sensor it is possible to measure deformation of concrete at the very early age (thermal swelling and shrinkage). However, by coupling it with a stiff sensor, it is possible to determine the hardening time of concrete and to measure initial stress in the rebars. The stiff sensor and the results obtained using its first prototype are presented in this paper.     

Measurement of gene expression from single adherent cells and spheroids collected using fast electrical lysis

The cytosol of a single adherent cell was collected by the electrical cell lysis method with a Pt-ring capillary probe, and the cellular messenger RNA (mRNA) was analyzed at a single-cell level. The ring electrode probe was positioned 20 microm above the cultured cells that formed a monolayer on an indium-tin oxide (ITO) electrode, and an electric pulse with a magnitude of 40 V was applied for 10 micros between the probe and the ITO electrodes in an isotonic sucrose solution. Immediately after the electric pulse, less than 1 microL of the lysed solution was collected using a micro-injector followed by RNA purification and first strand cDNA synthesis. Real-time PCR was performed to quantify the copy numbers of mRNA encoding glyceraldehyde-3-phosphate dehydrogenase (GAPDH) expression inside the single cell. The average copy numbers of GAPDH mRNA collected by the electrical cell lysis method were found to be comparable to those obtained by a simple capillary suction method. Although single-cell analysis has already been demonstrated, we have shown for the first time that the fast electrical cell lysis can be used for quantitative mRNA analysis at the single-cell level. This electrical cell lysis method was further applied for the analysis of mRNA obtained from single spheroids-the aggregated cellular masses formed during the three-dimensional culture -- as a model system to isolate small cellular clusters from tissues and organs.     

Determination of the elastic modulus of adherent cells using spherical atomic force microscope probe

When the conventional Hertz formula is used to extract the elastic modulus, E, of cells based on the compression test using atomic force microscope spherical probe, the inconsistency between the actual situation and the assumption of the formula will lead to a large error. Using the ABAQUS for finite element modeling and analysis, here, a modified Hertz formula was developed to reduce the effects of cell radius, cell thickness, probe radius and compression depth on the extracted E of cells. Experimentally, the insensitivity of the extracted E to the compression region of cell and probe radius reflects the validity of the modified formula. Owing to the poor resolution of spherical probes, it's unlikely to know the actual thickness of cell at the measured point, which can lead to a huge error. Based on the modified formula, we further proposed an approach to control the effect of the uncertainty of cell thickness and ensured that a 10% difference in cell thickness does not incur over 10% variation in the obtained elastic modulus.

     

Detection of gold nanoparticles using an immunoglobulin-coated piezoelectric sensor

Since the existence of nanoparticles in our environment has already attracted considerable attention due to their possible toxic impact on biological systems, the field detection of nanoparticles is becoming a technology that will be much in need. We have constructed a piezoelectric sensor with an antibody-coated electrode. The antiserum can bind gold nanoparticles with a high degree of selectivity and sensitivity. The biosensor thus constructed can detect 4, 5, or 6?nm gold nanoparticles (GNPs) depending on the coated antiserum. The sensitivity for the detection of 5?nm GNPs was 10.3 ± 0.9?ng?Hz(-1), with the low limit of detection at 5.5?ng. A quartz crystal microbalance (QCM) sensor was capable of detecting GNPs and other types of nanoparticle, such as ZnO, or Fe(3)O(4). The current study provides, for the first time, a platform for detecting nanoparticles in a convenient, economical manner.     

高分子电阻型湿敏元件的复阻抗谱测试与分析

测量了高分子电阻型湿敏元件在低湿和高湿的复阻抗谱,利用复阻抗谱法求出了湿敏元件的体电阻,由此分析了湿敏元件的导电机理。     

The impedance of an electrodynamic,coaxial plasma accelerator

The properties of the impedance of an electrodynamic plasma accelerator are investigated. Drawing upon an analysis of the generalized Ohm's law, the factors resulting in a decrease in impedance, observed when the extension currents of the coaxial gun are blocked, are discussed.Translated from Inzhenerno-Fizicheskii Zhurnal, Vol. 43, No. 5, pp. 837–841, November, 1982.     

Semi-quantitative monitoring of confluence of adherent mesenchymal stromal cells on calcium-phosphate granules by using widefield microscopy images

The analysis of cell confluence and proliferation is essential to design biomaterials and scaffolds to use as bone substitutes in clinical applications. Accordingly, several approaches have been proposed in the literature to estimate the area of the scaffold covered by cells. Nevertheless, most of the approaches rely on sophisticated equipment not employed for routine analyses, while the rest of them usually do not provide significant statistics about the cell distribution. This research aims at studying confluence and proliferation of mesenchymal stromal cells (MSC) adherent on OSPROLIFE^®, a commercial biomaterial in the form of granules. In particular, we propose a Computer Vision approach that can routinely be employed to monitor the surface of the single granules covered by cells because only a standard widefield fluorescent microscope is required. In order to acquire significant statistics data, we analyse wide-area images built by using MicroMos v2.0, an updated version of a previously published software specific for stitching brightfield and phase-contrast images manually acquired via a widefield microscope. In particular, MicroMos v2.0 permits to build accurate “mosaics” of fluorescent images, after correcting vignetting and photo-bleaching effects, providing a consistent representation of a sample region containing numerous granules. Then, our method allows to make automatically a statistically significant estimate of the percentage of the area of the single granules covered by cells. Finally, by analysing hundreds of granules at different time intervals we also obtained reliable data regarding cell proliferation, confirming that not only MSC adhere onto the OSPROLIFE^® granules, but even proliferate over time.     

Unbalance and harmonics detection in induction motors using an optical fiber sensor

In this work, a new method for the detection of the negative effects of a particular unbalanced voltage and inverter harmonics on the performance of an induction motor using fiber sensors is proposed. Supplying a three-phase induction motor with unbalanced voltages causes an oscillating electromagnetic torque that generates vibrations, increased losses, efficiency reduction, and an extra temperature rise that leads to a reduction on insulation life of the machine. A new in-line fiber etalon accelerometer has been designed to detect these vibrations in the range DC-500 Hz. The in-line fiber etalon scheme used provides high robustness and stability, giving enough sensitivity to monitor the low-frequency and low-amplitude oscillations in the stator of the machine that exist in a voltage unbalance situation. To prove this claim, a 1.5-kW squirrel cage induction motor is analyzed under different unbalance levels. It is shown that a precise unbalance factor can be detected without accessing to the electric part of the machine and an accurate monitoring can be obtained using the high-resolution analysis proposed.     

Improved sensitivity of a histamine sensor using an engineered methylamine dehydrogenase

Methylamine dehydrogenase (MADH) may be immobilized in a polypyrrole (PPy) film on an electrode surface and used as an amperometric sensor for the determination of histamine. Using site-directed mutagenesis, phenylalanine 55 on the alpha subunit of MADH was converted to alanine. This alphaF55A MADH exhibits a 400-fold lower Km value for histamine than does native MADH when assayed in solution. An alphaF55A MADH-PPy sensor was constructed, and its properties were compared to that of the native MADH-PPy sensor. The alphaF55A MADH immobilized on the electrode exhibited Michaelis-Menten behavior in response to varied concentrations of histamine with an approximately 3-fold lower Km value than that exhibited by the immobilized native MADH. The detection limit for the native MADH-PPy sensor was approximately 20 microM while the alphaF55A MADH-PPy sensor exhibited a detection limit of approximately 5 microM, a 4-fold increase compared to the native MADH-PPy sensor. This work highlights the potential value of using site-directed mutagenesis to engineer enzymes to alter and improve biosensor performance.     

Dynamic strain measurement using an extrinsic Fabry-Perot interferometric sensor and an arrayed waveguide grating device

In this paper, we demonstrate an interrogation system, based on an arrayed waveguide grating, capable of monitoring dynamic strain in a cantilever beam at frequencies up to 5 kHz (limited by the actuator) with a similar precision to resistive strain gauges.     

Complex permittivity and moisture measurements of oil palm fruits using an open-ended coaxial sensor

An open-ended coaxial sensor for the determination of complex permittivity and moisture content of oil palm fruits is presented in this paper. The measurement system consisting of the sensor and a PC-controlled vector network analyzer have been tested successfully on a range of oil palm fruits of various degrees of ripeness. The initial values of the complex permittivity were estimated using the admittance model of the sensor. The amount of moisture content was found by matching the values of permittivity from the quasistatic model with the permittivity of a dielectric mixture model using the moisture content values obtained from the standard oven drying method.     

Fabrication of a highly sensitive magnetic sensor using an HTS thick film

A highly sensitive magnetic sensor based on Y₁Ba₂Cu₃O_7−x (YBCO) has been fabricated by the spray technique. The value of resistance R_ms in the transitional region ΔT of the thick film, was highly sensitive to the applied magnetic field B_ex. Here, ΔT is the transitional temperature region between the resistance drop temperature T_c^onset and residual resistance temperature T_c^res. The value of residual resistance R_res for an applied magnetic field of 80×10⁻⁴ T (80 G) exhibited an increase of about 580% over the resistance found in a zero magnetic field, and did not display any evidence of hysteresis. The fabrication and magnetic characteristics are discussed.