Multimodal sensing and active continuous closed‐loop feedback for achieving reliable manipulation in the outdoor physical world

The use of field robots can greatly decrease the amount of time, effort, and associated risk compared to if human workers were to carryout certain tasks such as disaster response. However, transportability and reliability remain two main issues for most current robot systems. To address the issue of transportability, we have developed a lightweight modularizable platform named AeroArm. To address the issue of reliability, we utilize a multimodal sensing approach, combining the use of multiple sensors and sensor types, and the use of different detection algorithms, as well as active continuous closed‐loop feedback to accurately estimate the state of the robot with respect to the environment. We used Challenge 2 of the 2017 Mohammed Bin Zayed International Robotics Competition as an example outdoor manipulation task, demonstrating the capabilities of our robot system and approach in achieving reliable performance in the fields, and ranked fifth place internationally in the competition.     

Supramolecular complexes: Determination of stability constants on the basis of various experimental methods

Stability constants and formation enthalpies of supramolecular complexes of crown ethers and their cyclic and acyclic analogues are determined on the basis of experimental data obtained by different physicochemical methods in the terms of a general approach developed and implemented in the ChemEqui software package. The established regularities of variation of stability of complexes are discussed as dependent on the ligand structure, nature of the cation, solvent, and anion. The applicability of the suggested method of determining complexation selectivity is shown for multicomponent equilibria in solutions.

     

Quality enhancement of the abundant under‐valued crustacean,lobster krill (Munida spp.), during its chilled storage

Lobster krill (Munida genus) represents an under‐valued crustacean frequently caught on European fishing banks. In this work, its sensory, microbiological and biochemical qualities were evaluated during chilled storage. Additionally, the effects of a prestorage antimelanosic treatment consisting of soaking in sodium metabisulphite (SMB) solutions at two different concentrations (0.25% and 0.75%) were also studied. SMB prestorage treatment provided lobster specimens that still exhibited acceptable sensory quality after 10 days of storage, while control specimens were unacceptable at that time. SMB treatment also resulted in a significant (P < 0.05) inhibition of microbial growth, mainly of Enterobacteriaceae, psychrotrophes and proteolytic bacteria. Low lipid oxidation levels were observed for all batches; however, a significantly higher (P < 0.05) retention of polyunsaturated fatty acids was found in SMB‐treated lobster, especially in the 0.75% SMB batch. The results presented here open the way to the potential commercialisation of currently under‐utilised lobster krill as a chilled product.     

Towards a Better Prediction of Cell Settling on Nanostructure Arrays—Simple Means to Complicated Ends

Vertical arrays of nanostructures (NSs) are emerging as promising platforms for probing and manipulating live mammalian cells. The broad range of applications requires different types of interfaces, but cell settling on NS arrays is not yet fully controlled and understood. Cells are both seen to deform completely into NS arrays and to stay suspended like tiny fakirs, which have hitherto been explained with differences in NS spacing or density. Here, a better understanding of this phenomenon is provided by using a model that takes into account the extreme membrane deformation needed for a cell to settle into a NS array. It is shown that, in addition to the NS density, cell settling depends strongly on the dimensions of the single NS, and that the settling can be predicted for a given NS array geometry. The predictive power of the model is confirmed by experiments and good agreement with cases from the literature. Furthermore, the influence of cell‐related parameters is evaluated theoretically and a generic method of tuning cell settling through surface coating is demonstrated experimentally. These findings allow a more rational design of NS arrays for the numerous exciting biological applications where the mode of cell settling is crucial.