Suction-based Grasp Point Estimation in Cluttered Environment for Robotic Manipulator Using Deep Learning-based Affordance Map

Machine Intelligence Research - Perception and manipulation tasks for robotic manipulators involving highly-cluttered objects have become increasingly in-demand for achieving a more efficient...     

Laser-speckle angular-displacement sensor: theoretical and experimental study

A novel, to our knowledge, method for the measurement of angular displacement for arbitrarily shaped objects is presented in which the angular displacement is perpendicular to the optical axis. The method is based on Fourier-transforming the scattered field from a single laser beam that illuminates the target. The angular distribution of the light field at the target is linearly mapped on a linear image sensor placed in the Fourier plane. Measuring this displacement facilitates the determination of the angular displacement of the target. It is demonstrated both theoretically and experimentally that the angular-displacement sensor is insensitive to object shape and target distance if the linear image sensor is placed in the Fourier plane. A straightforward procedure for positioning the image sensor in the Fourier plane is presented. Any transverse or longitudinal movement of the target will give rise to partial speckle decorrelation, but it will not affect the angular measurement. Furthermore, any change in the illuminating wavelength will not affect the angular measurements. Theoretically and experimentally it is shown that the method has a resolution of 0.3 mdeg ( approximately 5 murad) for small angular displacements, and methods for further improvement in resolution is discussed. No special surface treatment is required for surfaces giving rise to fully developed speckle. The effect of partially developed speckle is considered both theoretically and experimentally.     

A CDMA/TDD approach for wireless mesh networks

Wide band mesh or star oriented networks have recently become a subject of greater interest. Providing wideband multimedia access for a variety of applications has led to the inception of mesh networks. Classic access techniques such as FDMA and TDMA have been the norm for such networks. CDMA maximum transmitter power is much less than TDMA and FDMA counter parts, which is an important asset for mobile operation. In this paper we introduce a code division multiple access/time division duplex technique CDMA/TDD for such networks. The CDMA approach is an almost play and plug technology for wireless access, making it amenable for implementation by the mesh network service station, SS. Further it inherently allows mesh network service stations to use a combination of turbo coding and dynamic parallel orthogonal transmission to improve network efficiency. We outline briefly the new transmitter and receiver structures then evaluate the efficiency, delay and delay jitter. By analysis we show the advantages over classic counter parts with respect to the total network efficiency achievable especially for larger number of hops.     

Examination of microhardness indentation-induced subsurface damage in alumina platelet reinforced borosilicate glass using confocal scanning laser microscopy

Borosilicate glass and borosilicate glass matrix composites reinforced with 10, 15 and 30 vol.% alumina platelets have been indented and the subsurface lateral cracking examined by confocal scanning laser microscopy (CSLM). The suitability of the CSLM technique as a quick and nondestructive method of obtaining three-dimensional information of subsurface damage in dispersion reinforced brittle matrix composite materials was demonstrated. The addition of alumina platelets to the glass matrix has resulted in a reduction in the extent and depth of subsurface damage due to indentation, and hence may make the material more resistant to erosive wear. This damage development may be a consequence of the presence of residual compressive stresses in the matrix and the strong platelet/matrix interfacial bonding.     

Three-dimensional complex construct fabrication of illite by digital light processing-based additive manufacturing technology

Illite is a group of clay minerals that are expected to be widely used in catalyst fabrication, radioactive element adsorption, and so forth, due to its excellent adsorption properties. However, the shape control limitation of the illite product should be overcome to maximize its utilization and properties. We herein propose additive manufacturing (AM) as one of the best solutions to solve this structural drawback. Digital light processing (DLP) technology with the film-type of the material supplying system was adapted instead of the general vat-type DLP system to increase illite printability. The photo-curability and printability of illite-contained photocurable suspension were optimized. The color effect due to different ferric oxide content in yellow- and white-illite which influence the photopolymerization process also adjusted thoroughly. White illite showed better photo-curability and could be increased solid loading than yellow illite. The defect-free illite products with three-dimensional complex structures, which cannot be produced by typical ceramic processes, were obtained by DLP technology for both yellow- and white-illite after sintering at 1100°C. The overcoming of shape control limitation of illites by ceramic AM proved in this study has excellent potential for expanding illite utilities in various applications.     

Setting and nanostructural evolution of metakaolin geopolymer

The nanostructural evolution during formation of geopolymers and its correlation with setting have not been well understood. In this study, penetration resistance and ultrasonic wave reflection tests were conducted to measure setting, and solid‐state ²⁷Al NMR and liquid‐state ²⁹Si NMR were used to examine nanostructural changes in a metakaolin geopolymer as a function of time. Aluminum was released rapidly during the first 10 hour after mixing and immediately condensed with silicate species in solution to form larger sized aluminosilicate oligomers, which then condensed to form large structural units. Our evidence suggests these units form near metakaolin particle surface. Smaller sized silicate ions in the sol phase then attach to these units to form a gel with a more interconnected network structure. The initial stage of this attaching process was seen to be associated with set, which in this mixture occurred at 15 hour.     

Computational intelligence for microarray data and biomedical image analysis for the early diagnosis of breast cancer

The objective of this paper was to perform a comparative analysis of the computational intelligence algorithms to identify breast cancer in its early stages. Two types of data representations were considered: microarray based and medical imaging based. In contrast to previous researches, this research also considered the imbalanced nature of these data. It was observed that the SMO algorithm performed better for the majority of the test data, especially for microarray based data when accuracy was used as performance measure. Considering the imbalanced characteristic of the data, the Naive Bayes algorithm was seen to perform highly in terms of true positive rate (TPR). Regarding the influence of SMOTE, a well-known imbalanced data classification technique, it was observed that there was a notable performance improvement for J48, while the performance of SMO remained comparable for the majority of the datasets. Overall, the results indicated SMO as the most potential candidate for the microarray and image dataset considered in this research.     

Protein Kinases and Parkinson’s Disease

Currently, the lack of new drug candidates for the treatment of major neurological disorders such as Parkinson’s disease has intensified the search for drugs that can be repurposed or repositioned for such treatment. Typically, the search focuses on drugs that have been approved and are used clinically for other indications. Kinase inhibitors represent a family of popular molecules for the treatment and prevention of various cancers, and have emerged as strong candidates for such repurposing because numerous serine/threonine and tyrosine kinases have been implicated in the pathobiology of Parkinson’s disease. This review focuses on various kinase-dependent pathways associated with the expression of Parkinson’s disease pathology, and evaluates how inhibitors of these pathways might play a major role as effective therapeutic molecules.     

Theranostic Interpolation of Genomic Instability in Breast Cancer

Breast cancer is a diverse disease caused by mutations in multiple genes accompanying epigenetic aberrations of hazardous genes and protein pathways, which distress tumor-suppressor genes and the expression of oncogenes. Alteration in any of the several physiological mechanisms such as cell cycle checkpoints, DNA repair machinery, mitotic checkpoints, and telomere maintenance results in genomic instability. Theranostic has the potential to foretell and estimate therapy response, contributing a valuable opportunity to modify the ongoing treatments and has developed new treatment strategies in a personalized manner. “Omics” technologies play a key role while studying genomic instability in breast cancer, and broadly include various aspects of proteomics, genomics, metabolomics, and tumor grading. Certain computational techniques have been designed to facilitate the early diagnosis of cancer and predict disease-specific therapies, which can produce many effective results. Several diverse tools are used to investigate genomic instability and underlying mechanisms. The current review aimed to explore the genomic landscape, tumor heterogeneity, and possible mechanisms of genomic instability involved in initiating breast cancer. We also discuss the implications of computational biology regarding mutational and pathway analyses, identification of prognostic markers, and the development of strategies for precision medicine. We also review different technologies required for the investigation of genomic instability in breast cancer cells, including recent therapeutic and preventive advances in breast cancer.     

Photophysical Parameters of Functional Transparent Polymethyl-Methacrylate/Double-Walled Carbon Nanotubes Nanocomposite Sheet Under UV-Irradiation

Polymethyl-methacrylate (PMMA)/double-walled carbon nanotubes DWCNTs was prepared by using casting technique and studying with different spectroscopic techniques. UV/Vis spectral analysis shows that, the transmittance reaches to 92 % for blank PMMA and decreases to 87 % for PMMA doped with 0.01 DWCNTs composite. The calculated refractive index and absorption coefficient increase, while the estimated values of Urbach energy decreased after embedding CNT into PMMA matrix. The optical band gap values were observed to vary slightly with doping amount. Photoluminescence (PL) spectra show that there is no shift in the emission peak position upon doping with CNTs, but PL intensity is enhanced.