Hardware Sequencing of Inflatable Nonlinear Actuators for Autonomous Soft Robots

Soft robots are an interesting alternative for classic rigid robots in applications requiring interaction with organisms or delicate objects. Elastic in?atable actuators are one of the preferred actuation mechanisms for soft robots since they are intrinsically safe and soft. However, these pneumatic actuators each require a dedicated pressure supply and valve to drive and control their actuation sequence. Because of the relatively large size of pressure supplies and valves compared to electrical leads and electronic controllers, tethering pneumatic soft robots with multiple degrees of freedom is bulky and unpractical. Here, a new approach is described to embed hardware intelligence in soft robots where multiple actuators are attached to the same pressure supply, and their actuation sequence is programmed by the interaction between nonlinear actuators and passive ?ow restrictions. How to model this hardware sequencing is discussed, and it is demonstrated on an 8‐degree‐of‐freedom walking robot where each limb comprises two actuators with a sequence embedded in their hardware. The robot is able to carry pay loads of 800 g in addition to its own weight and is able to walk at travel speeds of 3 body lengths per minute, without the need for complex on‐board valves or bulky tethers.     

The crowd as a cameraman: on-stage display of crowdsourced mobile video at large-scale events

Multimedia Tools and Applications - Recording videos with smartphones at large-scale events such as concerts and festivals is very common nowadays. These videos register the atmosphere of the event...     

Updated Taxonomy for the Network and Service Management Research Field

Network and service management is an established research field within the general area of computer networks. A few years ago, an initial taxonomy, organizing a comprehensive list of terms and topics, was established through interviews with experts from both industry and academia. This taxonomy has since been used to better partition standardization efforts, identify classes of managed objects and improve the assignment of reviewers to papers submitted in the field. Because the field of network and service management is rapidly evolving, a biyearly update of the taxonomy was proposed. In this paper, a large-scale questionnaire is presented which was answered by experts in the field, evaluating the relevance of each individual topic for the next five years. Missing topics, which are likely to become relevant over the next few years, are identified as well. Furthermore, an analysis is performed of the records of papers submitted to major conferences in the area. Based on the obtained results, an updated version of the taxonomy is proposed.     

3D Anisotropic Polyethylene as Light-Responsive Grippers and Surfing Divers

Untethered soft actuators are usually based on 3D engineered special polymers such as liquid crystal networks or hydrogels that require complex fabrication methods. Here, an easy-to-process, anisotropic composite soft actuator based on a simple photothermal dye-doped polyethylene film is presented. The 3D anisotropic polymer films are prepared by solution-casting and subsequent thermal solid-stretching. The resulting soft actuators exhibit large and controllable bending in response to light (UV and/or near-infrared (NIR)) and are able to act as grippers picking up cargo. Additionally, the films are capable of realizing “diving” and “surfing” locomotion in and over a liquid via the photothermal induced Marangoni effect, yielding a NIR light-fueled transporter able to pick up cargo. The results open up new possibilities of using commodity polymers in a broad range of applications including untethered soft actuators and robotic devices.     

Bringing Time-Sensitive Networking to Wireless Professional Private Networks

Wireless Personal Communications - Private professional environments such as manufacturing industry, warehouses, hospitals, airports, among others, increasingly rely on end-to-end connected...     

<Emphasis Type="Italic">T</Emphasis><Subscript>2</Subscript> mapping of cerebrospinal fluid: 3 T versus 7 T

Object

Cerebrospinal fluid (CSF) T ₂ mapping can potentially be used to investigate CSF composition. A previously proposed CSF T ₂–mapping method reported a T ₂ difference between peripheral and ventricular CSF, and suggested that this reflected different CSF compositions. We studied the performance of this method at 7 T and evaluated the influence of partial volume and B ₁ and B ₀ inhomogeneity.

Materials and methods

T ₂-preparation-based CSF T ₂-mapping was performed in seven healthy volunteers at 7 and 3 T, and was compared with a single echo spin-echo sequence with various echo times. The influence of partial volume was assessed by our analyzing the longest echo times only. B ₁ and B ₀ maps were acquired. B ₁ and B ₀ dependency of the sequences was tested with a phantom.

Results

T _2,CSF was shorter at 7 T compared with 3 T. At 3 T, but not at 7 T, peripheral T _2,CSF was significantly shorter than ventricular T _2,CSF. Partial volume contributed to this T ₂ difference, but could not fully explain it. B ₁ and B ₀ inhomogeneity had only a very limited effect. T _2,CSF did not depend on the voxel size, probably because of the used method to select of the regions of interest.

Conclusion

CSF T ₂ mapping is feasible at 7 T. The shorter peripheral T _2,CSF is likely a combined effect of partial volume and CSF composition.

     

Thermal tolerance of the invasive oyster Crassostrea gigas: feasibility of heat treatment as an antifouling option

Pacific oysters, Crassostrea gigas are traditionally considered shellfish of great fishery and aquaculture value. For these reasons they are introduced worldwide. Recently there has been increasing reports about the prevalence of C. gigas as biofouling organism in cooling water systems. In the absence of relevant data on the susceptibility of oysters to commonly employed antifouling techniques such as heat treatment, it was presumed that oysters would be controlled by treatment programmes directed against other major fouling organisms. The present study was carried out to test the above hypothesis, and results showed that C. gigas has an upper temperature tolerance that is much higher than other major marine fouling animals including blue mussel Mytilus edulis. Apparently, temperature regimes presently used in heat treatment of cooling water systems fouled by mussels need to be increased, if C. gigas are to be controlled effectively. Our results also indicate that previous exposure of C. gigas to sublethal high temperatures could make them more resistant to subsequent thermal treatment, an aspect that should be taken into account when heat treatment is used as a fouling control option against oyster fouling.     

Membrane performance enhancer evaluations on pilot- and full-scale membrane bioreactors

Recently developed polymeric membrane performance enhancer product, MPE50, was tested in various pilot‐ and full‐scale membrane bioreactors (MBRs). The Initial MPE50 dosage was determined by visual jar tests and by using various bench‐top filtration tests. Different amounts of MPE50 were dosed, and the particle size and supernatant clarity of the mixed liquor were monitored visually. Bench‐top filtration tests were also conducted. A 50% higher MPE50 dosage is recommended to be added to the pilot/full‐scale bioreactors because, based on experience, some of the soluble microbial products in the mixed liquor do not completely react with polymer during the relatively short bench‐test mixing time interval. With the addition of 400 mg/L MPE50 to a pilot MBR, the design flow was increased twofold without any significant transmembrane pressure (TMP) increase for 1 day. The control TMP surged within a few hours without MPE50. Long‐term field trials in a full‐scale plant also showed a substantial flux increase. In addition to flux enhancement, MPE50 helped to remove foam from the bioreactors and improved plant aesthetics, safety and general operating performance.     

Pheromonal Cues Deposited by Mated Females Convey Social Information about Egg-Laying Sites in <Emphasis Type="Italic">Drosophila Melanogaster</Emphasis>

Individuals can make choices based on information learned from others, a phenomenon called social learning. How observers differentiate between which individual they should or should not learn from is, however, poorly understood. Here, we showed that Drosophila melanogaster females can influence the choice of egg-laying site of other females through pheromonal marking. Mated females mark territories of high quality food by ejecting surplus male sperm containing the aggregation pheromone cis-11-vaccenyl acetate (cVA) and, in addition, deposit several sex- and species-specific cuticular hydrocarbon (CHC) pheromones. These pheromonal cues affect the choices of other females, which respond by preferentially laying eggs on the marked food. This system benefits both senders and responders, as communal egg laying increases offspring survival. Virgin females, however, do not elicit a change in the egg-laying decision of mated females, even when food has been supplemented with ejected sperm from mated females, thus indicating the necessity for additional cues. Genetic ablation of either a female’s CHC pheromones or those of their mate results in loss of ability of mated females to attract other females. We conclude that mated females use a pheromonal marking system, comprising cVA acquired from male ejaculate with sex- and species-specific CHCs produced by both mates, to indicate egg-laying sites. This system ensures information reliability because mated, but not virgin, females have both the ability to generate the pheromone blend that attracts other flies to those sites and a direct interest in egg-laying site quality.