3D Knitting for Pneumatic Soft Robotics

Soft robots adapt passively to complex environments due to their inherent compliance, allowing them to interact safely with fragile or irregular objects and traverse uneven terrain. The vast tunability and ubiquity of textiles has enabled new soft robotic capabilities, especially in the field of wearable robots, but existing textile processing techniques (e.g., cut-and-sew, thermal bonding) are limited in terms of rapid, additive, accessible, and waste-free manufacturing. While 3D knitting has the potential to address these limitations, an incomplete understanding of the impact of structure and material on knit-scale mechanical properties and macro-scale device performance has precluded the widespread adoption of knitted robots. In this work, the roles of knit structure and yarn material properties on textile mechanics spanning three regimes–unfolding, geometric rearrangement, and yarn stretching–are elucidated and shown to be tailorable across unique knit architectures and yarn materials. Based on this understanding, 3D knit soft actuators for extension, contraction, and bending are constructed. Combining these actuation primitives enables the monolithic fabrication of entire soft grippers and robots in a single-step additive manufacturing procedure suitable for a variety of applications. This approach represents a first step in seamlessly “printing” conformal, low-cost, customizable textile-based soft robots on-demand.     

Chemical modification of group IV graphene analogs

Mono-elemental two-dimensional (2D) crystals (graphene, silicene, germanene, stanene, and so on), termed 2D-Xenes, have been brought to the forefront of scientific research. The stability and electronic properties of 2D-Xenes are main challenges in developing practical devices. Therefore, in this review, we focus on 2D free-standing group-IV graphene analogs (graphene quantum dots, silicane, and germanane) and the functionalization of these sheets with organic moieties, which could be handled under ambient conditions. We highlight the present results and future opportunities, functions and applications, and novel device concepts.     

Impact of arteriovenous fistula cannulation on the quality of dialysis

Introduction: Adequate hemodialysis directly improves health. Puncturing an arteriovenous fistula (AVF) and the amount of blood recirculation greatly affect the quality of dialysis. Few studies have assessed the method to cannulate a fistula and its influence on efficiency of hemodialysis. Methods: This prospective pilot study included 14 patients with end‐stage renal failure receiving regular intermittent hemodialysis. Patients received three consecutive treatments with both needles directed upstream then three consecutive treatments with the venous needle directed upstream and the arterial needle directed downstream. With both techniques, the distance between the needles was kept constant at 2.5 cm. Recirculation rate and Kt/V ratio were measured during each treatment using thermodilution and a diascan Fresenius generator. Findings: The 14 patients received 84 hemodialysis sessions: i.e., 8 (57.1%) males and 6 (42.8%) females, mean age 62.3 ± 15.57 years. Results showed that mean recirculation rates and Kt/V did not significantly differ between the two techniques. Discussion: Because no significant difference was found between the two techniques, the direction of insertion of needles should be decided upon on a case‐by‐case basis depending on the anatomy of the AVF and the feasibility of the puncture.     

Life cycle energy and carbon footprint analysis of photovoltaic battery microgrid system in India

Electricity supply in India is from a centralized grid. Many parts of the country experience grid interruptions. Life cycle energy and environmental analysis has been done for a 27 kWp photovoltaic system which acts as grid backup for 3 h outage in an Indian urban residential scenario. This paper discusses energy requirements and carbon emission for a PV storage system for five different battery technologies in Indian context. This can be used as a metric for comparative analysis for new batteries, with an undeveloped market. The energy requirements for the components are quantified and are compared in terms of energy payback time (EPBT) and Net Energy Ratio (NER). All the calculations are done for Indian context. EPBT is found to be in the range of 2–4.5 years for all the systems, while NER is in the range of 6.6–2.52. NaS has the highest emission factor of 0.67 kgCO₂/kWh and the least for NiCd (0.091 kgCO₂/kWh). These factors can be used to select a PV battery option and to target selection of materials and systems based on the reported values.     

Selective vapor sorption by polymers and cavitands on acoustic wave sensors: is this molecular recognition?

Selectivity patterns for the sorption of organic vapors from the gas phase into cavitand monolayers on acoustic wave sensors are very similar to those seen for sorption of the same vapors by amorphous polymers, demonstrating that the vapor/cavitand selectivity patterns are determined primarily by solubility interactions. The amorphous polymers serve as controls demonstrating that the three-dimensional structure of a cavitand layer is not primarily responsible for the selectivity observed. Binding and selectivity in the examples cited are governed primarily by general dispersion interactions and not by specific oriented interactions that could lead to molecular recognition.     

Rerouting of the intratemporal facial nerve: an analysis of the literature

Anterior rerouting of the intratemporal facial nerve in the infratemporal fossa approach is employed to access to the jugular bulb, hypotympanum, and lateral skull base, whereas posterior rerouting of the facial nerve, as employed in the transcochlear craniotomy, is most frequently used for surgery of the posterior fossa, cerebellopontine angle, prepontine region, and petrous apex. Facial nerve rerouting may lead to facial paresis or paralysis. This review of the literature is intended to define the physiologic "cost" of these procedures, so that the neurotologic surgeon can determine if the morbidity incurred in these techniques is worth the resultant exposure. Inconsistencies in reporting facial function places into question the validity of some of the cumulative data reported. Postoperatively, grades I-II facial nerve function was seen in 91% of patients undergoing short anterior rerouting, 74% of patients undergoing long anterior rerouting, and 26% of patients undergoing posterior complete rerouting. Although facial nerve rerouting allows unhindered exposure to previously inaccessible regions, it is achieved at the cost of facial nerve function. Facial nerve dysfunction increases with the length of facial nerve rerouted.     

Supramalleolar osteotomy for ankle valgus in myelomeningocele

Oral fibroblasts stimulated invasion of oral-carcinoma cells into the collagen matrix. The mechanisms of the fibroblast-induced stimulation of invasiveness was further investigated by examining cell motility and proteolytic activity of tumor cells, using mainly an adenoid-cystic-carcinoma cell line (ACCS) and normal fibroblasts from gingival tissues. Conditioned medium from the fibroblasts grown in serum-free medium was fractionated on a Superdex 200 pg column, and Peak 1 eluted at 200 to 300 kDa and Peak 2 eluted at 50 to 100 kDa were found to contain different specific activity. Treatment of ACCS cells with Peak 1 resulted in an increase in the production of proteolytic enzymes. Peak 2 stimulated both chemotaxis and chemokinesis of ACCS cells. A chemotactic factor was purified from the heparin-unbound fraction of Peak 2 by anion exchange and hydrophobic chromatography, and was named "fibroblast-derived motility factor (FDMF)". At 1 microg/ml, FDMF stimulated chemotaxis of ACCS cells by 4-fold compared with unstimulated controls. Characterization of the physicochemical properties of FDMF suggested that it might be different from any known motility factors. Exposure of ACCS cells to FDMF resulted in reduced amounts of actin stress fiber in the cytoplasm and induction of tyrosine phosphorylation of several cellular proteins detectable 30 to 60 min after treatment. These FDMF-induced changes were blocked by pre-treatment either with genistein or with pertussis toxin. These findings suggest that FDMF may be a novel protein which stimulates cell motility via a signaling pathway mediated by a pertussis-toxin-sensitive G protein and tyrosine phosphorylation.     

Evaluation of artery visualizations for heart disease diagnosis

Heart disease is the number one killer in the United States, and finding indicators of the disease at an early stage is critical for treatment and prevention. In this paper we evaluate visualization techniques that enable the diagnosis of coronary artery disease. A key physical quantity of medical interest is endothelial shear stress (ESS). Low ESS has been associated with sites of lesion formation and rapid progression of disease in the coronary arteries. Having effective visualizations of a patient's ESS data is vital for the quick and thorough non-invasive evaluation by a cardiologist. We present a task taxonomy for hemodynamics based on a formative user study with domain experts. Based on the results of this study we developed HemoVis, an interactive visualization application for heart disease diagnosis that uses a novel 2D tree diagram representation of coronary artery trees. We present the results of a formal quantitative user study with domain experts that evaluates the effect of 2D versus 3D artery representations and of color maps on identifying regions of low ESS. We show statistically significant results demonstrating that our 2D visualizations are more accurate and efficient than 3D representations, and that a perceptually appropriate color map leads to fewer diagnostic mistakes than a rainbow color map.     

RANGE–Robust autonomous navigation in GPS‐denied environments

This paper addresses the problem of autonomous navigation of a micro air vehicle (MAV) in GPS‐denied environments. We present experimental validation and analysis for our system that enables a quadrotor helicopter, equipped with a laser range finder sensor, to autonomously explore and map unstructured and unknown environments. The key challenge for enabling GPS‐denied flight of a MAV is that the system must be able to estimate its position and velocity by sensing unknown environmental structure with sufficient accuracy and low enough latency to stably control the vehicle. Our solution overcomes this challenge in the face of MAV payload limitations imposed on sensing, computational, and communication resources. We first analyze the requirements to achieve fully autonomous quadrotor helicopter flight in GPS‐denied areas, highlighting the differences between ground and air robots that make it difficult to use algorithms developed for ground robots. We report on experiments that validate our solutions to key challenges, namely a multilevel sensing and control hierarchy that incorporates a high‐speed laser scan‐matching algorithm, data fusion filter, high‐level simultaneous localization and mapping, and a goal‐directed exploration module. These experiments illustrate the quadrotor helicopter's ability to accurately and autonomously navigate in a number of large‐scale unknown environments, both indoors and in the urban canyon. The system was further validated in the field by our winning entry in the 2009 International Aerial Robotics Competition, which required the quadrotor to autonomously enter a hazardous unknown environment through a window, explore the indoor structure without GPS, and search for a visual target. © 2011 Wiley Periodicals, Inc.