Flexible and Conductive 3D Printable Polyvinylidene Fluoride and Poly(N,N‐dimethylacrylamide) Based Gel Polymer Electrolytes

In this work, 3D printable gel polymer electrolytes (GPEs) based on N,N‐dimethylacrylamide (DMAAm) and polyvinylidene fluoride (PVDF) in lithium chloride containing ethylene glycol solution are synthesized and their physicochemical properties are investigated. 3D printing is carried out with a customized stereolithography type 3D gel printer named “Soft and Wet Intelligent Matter‐Easy Realizer” and free forming GPE samples having variable shapes and sizes are obtained. Printed PVDF/PDMAAm‐based GPEs exhibit tunable mechanical properties and favorable thermal stability. Electrochemical proprieties of the printed GPEs are carried out via impedance spectroscopy in the temperature range of 25–90 °C by varying PVDF content. Ionic conductivity as high as 6.5 × 10^?4 S cm^?1 is achieved at room temperature for GPE containing low PVDF content (5 wt%) and conductivity of the GPEs is increased as temperature rises.     

Relation between Mechanical Twinning and Cracking in Stoichiometric Lithium Niobate Single Crystals

The relationships between cracking and mechanical twinning, and between ferroelectric polarization and mechanical twinning, in stoichiometric LiNbO₃ were investigated in the present study. Three sets of mechanical twins crossed one another, and the crossed points of those twins provided preferred sites for the nucleation of cracks. Mechanical twins of LiNbO₃ revealed a head-to-tail arrangement of ferroelectric polarization, and complicated polarization states were observed at the crossed points. Some possible mechanisms of crack nucleation and propagation are proposed in this paper.     

Structure and Nonlinear Optical Properties of Lanthanide Borate Glasses

The third–order nonlinear optical susceptibility, χ⁽³⁾, of lanthanide (lanthanum, praseodymium, neodymium, and samarium) borate glasses has been measured by the third harmonic generation method. The structure of the present glass system has been studied by infrared and Raman spectroscopic methods. The network structures of the present Ln₂O₃–B₂O₃ glasses have been confirmed to be basically similar to each other. Praseodymium, neodymium, and samarium borate glasses exhibit χ⁽³⁾ values that are larger than lanthanum borate glasses, because of the optical resonance effect, in accordance with the f – f transition. Especially, the χ⁽³⁾ value for 30Pr₂O₃·70B₂O₃ glass is 1.8 × 10⁻¹² esu, which is a factor of ∼60 larger than that of SiO₂ glass. This striking enhancement of χ⁽³⁾ is mainly attributed to the large transition moment to the first excitation state.     

Roles of CCL2-CCR2 Axis in the Tumor Microenvironment

Chemokines are a small family of cytokines that were first discovered as chemotactic factors in leukocytes during inflammation, and reports on the relationship between chemokines and cancer progression have recently been increasing. The CCL2-CCR2 axis is one of the major chemokine signaling pathways, and has various functions in tumor progression, such as increasing tumor cell proliferation and invasiveness, and creating a tumor microenvironment through increased angiogenesis and recruitment of immunosuppressive cells. This review discusses the roles of the CCL2-CCR2 axis and the tumor microenvironment in cancer progression and their future roles in cancer therapy.     

Laser range scanner based on self-calibration techniques using coplanarities and metric constraints

In this paper, we propose a novel method to achieve both dense 3D reconstruction of the scene and estimation of the camera intrinsic parameters by using coplanarities and other constraints (e.g., orthogonalities or parallelisms) derived from relations between planes in the scene and reflected curves of line lasers captured by a single camera. In our study, we categorize coplanarities in the scene into two types: implicit coplanarities, which can be observed as reflected curves of line lasers, and explicit coplanarities, which are, for example, observed as walls of a building. By using both types of coplanarities, we can construct simultaneous equations and can solve them up to four degrees of freedom. To upgrade the solution to the Euclidean space and estimate the camera intrinsic parameters, we can use metric constraints such as orthogonalities of the planes. Such metric constraints are given by, for example, observing the corners of rectangular boxes in the scene, or using special laser projecting device composed of two line lasers whose laser planes are configured to be perpendicular.     

MORI-A CPS: 3D printed soft actuators with 4D assembly simulation

Artificial Life and Robotics - Soft modular robotics combines soft materials and modular mechanisms. We are developing a vacuum-driven actuator module, MORI-A, which combines a 3D-printed flexible...     

A differential-geometric approach for 2D and 3D object grasping and manipulation

This article presents an expository work on a differential-geometric treatment of fundamental problems of 2D and 3D object grasping and manipulation by a pair of robot fingers with multi-joints under holonomic or nonholonomic constraints. First, Lagrange’s equation of motion of a fingers-object system whose motion is confined to a vertical plane is derived under holonomic constraints when rolling contacts between finger-ends and object surfaces are permitted. Then, a class of control signals called “blind grasping” and constructed without knowing the object kinematics or using any external sensing like vision or tactile sensation is shown to realize stable object grasping in a dynamic sense. Stability of motion and its convergence to an equibrium manifold are treated on the basis of differential geometry of solution trajectories of the closed-loop dynamics on the constraint manifolds. Second, a mathematical model of 3D object grasping and manipulation by a pair of multi-joint robot fingers is derived under the assumption that spinning motion of rotation around the opposing axis between contact points does no more arise. It is shown that, differently from the 2D case, the instantaneous axis of rotation of the object is time-varying, which induces a nonholonomic constraint expressed as a linear differential equation of rotational motion of the pinched object. It is shown that there is a class of control signals constructed without knowing the object kinematics or using external sensings that can realize “blind grasping” in a dynamic sense. Finally, it is shown that the proposed differential geometric treatment of stability can naturally cope with redundancy resolution problems of surplus degrees-of-freedom (d.f.) of the overall fingers-object system, which is closely related to Bernstein’s d.f. problem.     

Multistage bayesian autonomy for high‐precision operation in a large field

This paper presents a generalized multistage bayesian framework to enable an autonomous robot to complete high‐precision operations on a static target in a large field. The proposed framework consists of two multistage approaches, capable of dealing with the complexity of high‐precision operation in a large field to detect and localize the target. In the multistage localization, locations of the robot and the target are estimated sequentially when the target is far away from the robot, whereas these locations are estimated simultaneously when the target is close. A level of confidence (LOC) for each detection criterion of a sensor and the associated probability of detection (POD) of the sensor are defined to make the target detectable with different LOCs at varying distances. Differential entropies of the robot and target are used as a precision metric for evaluating the performance of the proposed approach. The proposed multistage observation and localization approaches were applied to scenarios using an unmanned ground vehicle (UGV) and an unmanned aerial vehicle (UAV). Results with the UGV in simulated environments and then real environments show the effectiveness of the proposed approaches to real‐world problems. A successful demonstration using the UAV is also presented.     

Shape Reconstruction and Camera Self-Calibration Using Cast Shadows and Scene Geometries

Recently, various techniques of shape reconstruction using cast shadows have been proposed. These techniques have the advantage that they can be applied to various scenes, including outdoor scenes, without using special devices. Previously proposed techniques usually require calibration of camera parameters and light source positions, and such calibration processes limit the range of application of these techniques. In this paper, we propose a method to reconstruct 3D scenes even when the camera parameters or light source positions are unknown. The technique first recovers the shape with 4-DOF indeterminacy using coplanarities obtained by cast shadows of straight edges or visible planes in a scene, and then upgrades the shape using metric constraints obtained from the geometrical constraints in the scene. In order to circumvent the need for calibrations and special devices, we propose both linear and nonlinear methods in this paper. Experiments using simulated and real images verified the effectiveness of this technique.