Extraction and implementation of muscle synergies in neuro-mechanical control of upper limb movement

This work faces the redundancy problem, a central concern in robotics, in a particular force-producing task by using muscle synergies to simplify the control. We extracted muscle synergies from human electromyograph signals and interpreted the physical meaning of the identified muscle synergies. Based on the human analysis results, we hypothesized a novel control framework that can explain the mechanism of the human motor control. The framework was tested in controlling a pneumatic-driven robotic arm to perform a reaching task. This control method, which uses only two synergies as manipulated variables for driving antagonistic pneumatic artificial muscles to generate desired movements, would be useful to deal with the redundancy problem; thus, suggesting a simple but efficient control for human-like robots to work safely and compliantly with humans.     

Oligomer-Rich Fraction from Polydisperse Sample of Poly(bis(β-phenoxyethoxy)phosphazene)

Poly[bis(-phenoxyethoxy)phosphazene] [PBPEP] had been shown in our previous paper to be a very useful polymer for investigating the crystallization mechanism of polymers, as the crystallization rate of PBPEP is extraordinarily small when isothermally crystallized from the melt. The crystallization of the low molecular weight oligomers of PBPEP was first studied in comparison to the high molecular weight polymers. The oligomer-rich fraction was obtained by fractionation of the as-polymerized sample, which had a broad molecular weight distribution. The fractions thus obtained were characterized by solution viscometry and size exclusion chromatography. The melting temperature and the growth rate of the spherulite from the melt were investigated by differential scanning calorimetry and optical microscopy. The growth rate was one or two orders of magnitude smaller in the oligomer-rich fraction than in the other high molecular weight fractions. A collapsed spherulite appeared in the oligomer-rich fraction at high crystallization temperatures. It is speculated that in the oligomer-rich fraction there is an excess free energy due to defects in the crystal phase. This defect is considerably larger in the oligomer-rich fraction than in the other fractions because a large quantity of short length chains is present.     

Microassembly of semiconductor three-dimensional photonic crystals

Electronic devices and their highly integrated components formed from semiconductor crystals contain complex three-dimensional (3D) arrangements of elements and wiring. Photonic crystals, being analogous to semiconductor crystals, are expected to require a 3D structure to form successful optoelectronic devices. Here, we report a novel fabrication technology for a semiconductor 3D photonic crystal by uniting integrated circuit processing technology with micromanipulation. Four- to twenty-layered (five periods) crystals, including one with a controlled defect, for infrared wavelengths of 3-4.5 microm, were integrated at predetermined positions on a chip (structural error <50 nm). Numerical calculations revealed that a transmission peak observed at the upper frequency edge of the bandgap originated from the excitation of a resonant guided mode in the defective layers. Despite their importance, detailed discussions on the defective modes of 3D photonic crystals for such short wavelengths have not been reported before. This technology offers great potential for the production of optical wavelength photonic crystal devices.     

Effect of neodymium ion on the structural,electrical and magnetic properties of nanocrystalline nickel ferrites

NiNd_xFe_2-xO₄ nanoferrites with different compositions of x?=?0.01, 0.03, 0.05, 0.07 and 0.09 were prepared using the sonochemical method. The structural, optical and morphological properties of the prepared nanoferrites were characterized by X-ray diffraction, ultra violet-diffuse reflectance spectroscopy, scanning electron microscopy and X-ray fluorescence techniques. The X-ray diffraction analysis of the prepared nanoferrites confirmed the presence of a cubic spinel structure. The average crystallite sizes of the prepared nanoferrites were 52, 49, 46, 44 and 40?nm for x?=?0.01, 0.03, 0.05, 0.07 and 0.09, respectively. The particle size of the prepared NiNd_xFe_2-xO₄ nanoferrites was in the range 60–40?nm. The dielectric parameters ranged from 2.9?GHz to 5.6?GHz. Decrease in the dielectric constant was observed with an increase in Nd³⁺ ions in the prepared NiNd_xFe_2-xO₄ nanoferrites. However, a reverse trend was observed in the dielectric loss. An impedance analysis of the prepared nanoferrites was carried out to explore the pseudo-capacitance behavior. The saturation magnetization and remnant magnetization values of the prepared nanoferrites decreased with an increase in the concentration of Nd³⁺ ions in NiNd_xFe_2-xO₄ nanoferrites.     

Numerical Investigation of Forced Convection Conjugate Heat Transfer from Offset Square Cylinders Placed in a Confined Channel Covered by Solid Wall

Flow over two isothermal offset square cylinders in a confined channel is simulated for different Reynolds numbers to disclose the forced convection heat transfer from the heated square cylinders to the ambient fluid. The spacing between the cylinder in the normal direction and the blockage ratio are fixed. The channel walls are covered by solid walls of thickness equal to the size of the cylinder and conjugate heat transfer is considered by including these walls. Heat transfer from the cylinders to the ambient fluid as well as that conducted within the solid wall through the conjugate interface boundary are investigated in connection with Reynolds number and are reported for both steady and periodic flows. Simulation is carried out for Reynolds number varying from 10 to 100 with air as the fluid. The onset of the vortex begins when the Reynolds number equals 48. The conjugate interface temperature declines when the Reynolds number grows. The isotherms in the solid wall show two dimensionality near the cylinder region.     

Extrinsic parameter's adjustment and potential implications in Plasmodium falciparum malaria diagnosis

Malaria is a major public health concern, affecting over 3.2 billion people in 91 countries. The advent of digital microscopy and Machine learning with the aim of automating Plasmodium falciparum diagnosis extensively depends on the extracted image features. The color of the cells, plasma, and stained artifacts influence the topological, geometrical, and statistical parameters being used to extract image features. During microscopic image acquisition, custom adjustments to the condenser and color temperature controls often have an influence on the extracted statistical features. But, our human visual system sub-consciously adjusts the color and retains the originality in a different lighting environment. Despite the use of appropriate image preprocessing, findings from the literature indicate that statistical feature variations exist, allowing the risk of P. falciparum misinterpretation. In order to eliminate this pervasive variation, the current work focuses on preprocessing the extracted statistical features rather than the prepossessing of the source image. It begins with the augmentation of series images for a microscopic field by inducing illumination variations during the microscopic image acquisition stage. A set of such image series is analyzed using a Nonlinear Regression Model to generalize the relationship between microscopic images acquired with variable ambient brightness and a specific feature. The projection point of the centroid feature onto the brightness parameter is identified in the model and it is denoted as the optimum brightness factor (OBF). Using the model, the feature correction factor (CF) is calculated from the rate of change of feature values over the interval OBF, and the brightness of the test image is processed. The present work has investigated OBF for selected image textural features, namely Contrast, Homogeneity, Entropy, Energy, and Correlation individually from its co-occurrence matrices. For performance analysis, the best state-of-the-art method uses selected texture as a subset feature to evaluate the effectiveness of P. falciparum malaria classification. Then, the impact of proposed feature processing is evaluated on 274 blood smear images with and without Feature Correction (FC). As a result, the “p” value is less than .05, which leads to the result that it is highly significant and the classification accuracy and F-score of P. falciparum malaria are increased.     

Transient study of buoyancy-assisted mixed convection in laminar plane wall jet flow

A numerical investigation of two-dimensional transient buoyancy-assisted laminar plane wall jet flow has been conducted. The governing equations in the stream function-vorticity formulation have been solved by alternating direction implicit (ADI) method. The parameters used are Grashof number 10⁴ − 10⁷, Prandtl number 0.01, 0.71, 7.1, 10.0 and 15.0 with a constant Reynolds number 400. The plate is considered at a higher temperature and the fluid is assumed to be initially at a uniform cold temperature. The streamline, u-velocity and the isotherm contours are presented at different time levels. The time required for the average Nusselt number to attain a steady-state value decreases with increase in Grashof number.     

Numerical Simulation of Mixed Convection in a Two-Dimensional Laminar Plane Wall Jet Flow

A two-dimensional, laminar, incompressible mixed convection with plane wall jet is simulated numerically using the stream function–vorticity method. The buoyancy is assisting the main flow. The flow and heat transfer study is carried out for Re = 300–600, Gr = 10³–10⁷, and Pr = 0.01–15. The streamlines, isotherm contours, similarity profiles, vorticity at the walls, and the local and average Nu values are presented and analyzed. In some cases, similarity behaviour is observed. The vorticity profile at the wall is similar to boundary-layer-type flow. However, for high Gr, the wall vorticity increases in the downstream direction. The average Nusselt number increases when Re, Gr, and Pr are increased.     

Information‐driven robotic sampling in the coastal ocean

Efficient sampling of coastal ocean processes, especially mechanisms such as upwelling and internal waves and their influence on primary production, is critical for understanding our changing oceans. Coupling robotic sampling with ocean models provides an effective approach to adaptively sample such features. We present methods that capitalize on information from ocean models and in situ measurements, using Gaussian process modeling and objective functions, allowing sampling efforts to be concentrated to regions with high scientific interest. We demonstrate how to combine and correlate marine data from autonomous underwater vehicles, model forecasts, remote sensing satellite, buoy, and ship‐based measurements, as a means to cross‐validate and improve ocean model accuracy, in addition to resolving upper water‐column interactions. Our work is focused on the west coast of Mid‐Norway where significant influx of Atlantic Water produces a rich and complex physical–biological coupling, which is hard to measure and characterize due to the harsh environmental conditions. Results from both simulation and full‐scale sea trials are presented.