A Controller Design Method Based on a Neural Network for an Outdoor Mobile Robot

A wheeled mobile mechanism with a passive and/or active linkage mechanism for travel in rough terrain is developed and evaluated. In our previous research, we developed a switching controller system for wheeled mobile robots in rough terrain. This system consists of two sub-systems: an environment recognition system using a self-organizing map and an adjusted control system using a neural network. In this paper, we propose a new controller design method based on a neural network. The proposed method involves three kinds of controllers: an elementary controller, adjusted controllers, and simplified controllers. In the experiments, our proposed method results in less oscillatory motion in rough terrain and performs better than a well tuned PID controller does.     

Biomimetic Motion Control System Based on a CPG for an Amphibious Multi-Link Mobile Robot

Robots and robotics technologies are expected to provide new tools for inspection and manipulation, especially in extreme environments that are dangerous for human beings to access directly, such as underwater environments, volcanic areas, or nuclear power plants. Robots designed for such extreme environments should be sufficiently robust and strong to cope with disturbance and breakdowns. We focus on the movement of animals to realize robust robot systems. One approach is to mimic the nervous systems of animals. The central pattern generator of a nervous system has been shown to control motion patterns, such as walking, respiration and flapping. In this paper, a robot motion control system using a central pattern generator is proposed and applied to an amphibious multi-link mobile robot.     

A System Design Concept Based on Omni-Directional Mobility,Safety and Modularity for an Autonomous Mobile Soccer Robot

In this paper, we describe the concept, design and implementation of a series of autonomous mobile soccer robots, named Musashi robots, which are designed referring ISO safety standards and have mechatronics modular architecture. The robots are designed to participate in the RoboCup Middle Size League. Using a modular design philosophy, we show that the selection of a proper moving mechanism, a suitable vision system and a mechatronics modular architecture design can lead to the realization of a reliable, simple, and low cost robot when compared with most car-like robots that include many kinds of sensors and have a complex design structure.     

Sensitivity of Optical Fiber Sensor Based on Surface Plasmon Resonance: Modeling and Experiments

In this paper, surface plasmon resonance curves of an optical fiber-based sensor were investigated. From an experimental and theoretical perspective, the response curves were analyzed and discussed. Precisely, such curves were calculated by modeling the analyte/metallic layer interface using a multilayer system, including the effects of roughness. Then, the experimental response curves observed in solutions with different refractive indices were compared to the simulated curves. Good agreement was obtained with respect to the resonance peak location and the shape of the curves. Consequently, these results enabled us to predict the ideal functioning conditions of the sensor, i.e., the working parameters corresponding to the best sensitivities of detection.     

Ultra-Sensitive Humidity Sensor Based on Optical Properties of Graphene Oxide and Nano-Anatase TiO2

Generally, in a waveguide-based humidity sensors, increasing the relative humidity (RH) causes the cladding refractive index (RI) to increase due to cladding water absorption. However, if graphene oxide (GO) is used, a reverse phenomenon is seen due to a gap increase in graphene layers. In this paper, this interesting property is applied in order to fabricate differential humidity sensor using the difference between RI of reduced GO (rGO) and nano-anatase TiO₂ in a chip. First, a new approach is proposed to prepare high quality nano-anatase TiO₂ in solution form making the fabrication process simple and straightforward. Then, the resulted solutions (TiO₂ and GO) are effortlessly drop casted and reduced on SU8 two channels waveguide and extensively examined against several humid conditions. Investigating the sensitivity and performance (response time) of the device, reveals a great linearity in a wide range of RH (35% to 98%) and a variation of more than 30 dB in transmitted optical power with a response time of only ~0.7 sec. The effect of coating concentration and UV treatment are studied on the performance and repeatability of the sensor and the attributed mechanisms explained. In addition, we report that using the current approach, devices with high sensitivity and very low response time of only 0.3 sec can be fabricated. Also, the proposed device was comprehensively compared with other state of the art proposed sensors in the literature and the results were promising. Since high sensitivity ~0.47dB/%RH and high dynamic performances were demonstrated, this sensor is a proper choice for biomedical applications.     

Blackboard Mechanism Based Ant Colony Theory for Dynamic Deployment of Mobile Sensor Networks

A novel bionic swarm intelligence algorithm, called ant colony algorithm based on a blackboard mechanism, is proposed to solve the autonomy and dynamic deployment of mobiles sensor networks effectively. A blackboard mechanism is introduced into the system for making pheromone and completing the algorithm. Every node, which can be looked as an ant, makes one information zone in its memory for communicating with other nodes and leaves pheromone, which is created by ant itself in naalre. Then ant colony theory is used to find the optimization scheme for path planning and deployment of mobile Wireless Sensor Network （WSN）. We test the algorithm in a dynamic and unconfigurable environment. The results indicate that the algorithm can reduce the power consumption by 13% averagely, enhance the efficiency of path planning and deployment of mobile WSN by 15% averagely.     

Chiral Recognition of Tyrosine Enantiomers Based on Decreased Resonance Scattering Signals With Silver Nanoparticles as Optical Sensor

A novel chiral sensing platform, employing silver nanoparticles capped with N‐acetyl‐L‐cysteine (NALC‐Ag NPs), was utilized for the discrimination of L‐tyrosine and D‐tyrosine. This nanosensor, which could be used as an optical sensing unit and chiral probe, was characterized by transmission electron microscopy (TEM) and resonance Rayleigh scattering (RRS) spectroscopy. After the proposed sensing platform interacted with L‐tyrosine and D‐tyrosine, a decreased resonance scattering signal was only obtained from L‐tyrosine. This phenomenon offered a useful assay for the selectivity and determination of L‐tyrosine with the RRS method. The linear range and detection limit of L‐tyrosine were 0.2838–20.0 µg⋅mL^‐1 and 0.0860 µg⋅mL^‐1, respectively. In addition, experimental factors such as acidity, interaction time, and the concentration of enantiomers were investigated with regard to the effect on enantioselective interaction. Chirality 27:194–198, 2015. © 2014 Wiley Periodicals, Inc.     

Optical Fiber Micro-Taper with Circular Symmetric Gold Coating for Sensor Applications Based on Surface Plasmon Resonance

We describe a novel, fully symmetrical deposition method, based on a sputtering technique and use of a gold ring target for deposition of a gold layer uniform around the taper waist. With such a circular symmetric coating, the plasmon resonance effect in the fiber taper becomes completely independent of the polarization of the illuminating light. We have measured the complex refractive index of such sputtered gold layers. On this basis, model calculations have been performed to describe the plasmon resonance as a function of taper waist diameter, gold layer thickness, analyte interaction length, and analyte refractive index. Optimized parameters especially for measurement in aqueous solutions are derived from these theoretical calculations. Experimental results are shown to be in good agreement with the theoretical analysis.     

A Biomimetic Climbing Robot Based on the Gecko

1 Introduction The locomotion, sensing, navigation, and adapta- tion capabilities in animals have long inspired humans to emulate them in robots. The purpose of this study was to determine the potential of climbing robots for both ter- restrial and extra-terrestrial explorations. Robots similar to their biological counterparts require extensive sys- tems for power, locomotion, and actuation, with com- putation, sensing, and autonomy. From animal research and current technologies, the possibili…     

Quantitative Analysis of Cell Migration Using Optical Flow

Neural crest cells exhibit dramatic migration behaviors as they populate their distant targets. Using a line of zebrafish expressing green fluorescent protein (sox10:EGFP) in neural crest cells we developed an assay to analyze and quantify cell migration as a population, and use it here to characterize in detail the subtle defects in cell migration caused by ethanol exposure during early development. The challenge was to quantify changes in the in vivo migration of all Sox10:EGFP expressing cells in the visual field of time-lapse movies. To perform this analysis we used an Optical Flow algorithm for motion detection and combined the analysis with a fit to an affine transformation. Through this analysis we detected and quantified significant differences in the cell migrations of Sox10:EGFP positive cranial neural crest populations in ethanol treated versus untreated embryos. Specifically, treatment affected migration by increasing the left-right asymmetry of the migrating cells and by altering the direction of cell movements. Thus, by applying this novel computational analysis, we were able to quantify the movements of populations of cells, allowing us to detect subtle changes in cell behaviors. Because cranial neural crest cells contribute to the formation of the frontal mass these subtle differences may underlie commonly observed facial asymmetries in normal human populations.     

Development of LSPR-Based Optical Fiber Dopamine Sensor Using L-Tyrosine-Capped Silver Nanoparticles and Its Nonlinear Optical Properties

Facile synthesis of L-tyrosine-capped silver nanoparticles (Tyr-AgNPs) was carried out, and its linear and nonlinear optical properties were investigated. Further, the sensing properties of Tyr-AgNPs toward dopamine were explored. Tyr-AgNPs exhibit a decrease in fluorescence intensity while a linear increase in absorption spectrum against increase in dopamine (DA) concentration (0–50 μM) at room temperature. Tyr-AgNPs are used as the sensing material for the fabrication of fiber optic dopamine sensor. Sensitivity, selectivity, and limit of detection of the sensor are evaluated. This proposed fiber optic sensor may offer sensitive and low-cost strategy for DA detection.

     

Sensitive Hemoglobin Concentration Sensor Based on Graphene-Plasmonic Nano-structures

Plasmonics - In this paper, half-cylindrical-shaped rods are arranged in a row in order to form hemoglobin concentration sensors. The proposed structures can effectively detect hemoglobin...     

Liquid Refractive Index Sensor Based on Terahertz Metamaterials

Plasmonics - Diabetes is one of the biggest health problems in the world; in order to control blood in modern biological detection and analysis, most of them use the method of label determination...     

Influence of Design Parameters on the Performance of a Surface Plasmon Sensor Based Fiber Optic Sensor

In the present work, the influence of two key design parameters, namely, fiber core diameter and sensing region length on the performance of a fiber optic surface plasmon resonance sensor, was experimentally observed. The sensor was designed with a multimode optical fiber of numerical aperture 0.40 and a thin silver layer of 50 nm thickness. The performance evaluation was carried out in terms of three performance parameters: sensitivity, signal-to-noise ratio and resolution. It was found that performance of the sensor tends to improve if fiber of large core diameter is used. Further, sensing region length should be taken as small as possible to attain highly sensitive and accurate sensing procedure. The experimental results are explained in terms of related physical background and mathematical expressions.     

Experimental and Theoretical Analysis of Connector Offset Optical Fiber Refractive Index Sensor

Plasmonics - In this paper, a high sensitive connector offset optical fiber sensor is employed to detect the refractive index of liquid. The configuration chosen for this experiment is formed by...     

Sensor to detect endothelialization on an active coronary stent

Background  

A serious complication with drug-eluting coronary stents is late thrombosis, caused by exposed stent struts not covered by endothelial cells in the healing process. Real-time detection of this healing process could guide physicians for more individualized anti-platelet therapy. Here we present work towards developing a sensor to detect this healing process. Sensors on several stent struts could give information about the heterogeneity of healing across the stent.     

Development of an Amphibious Turtle-Inspired Spherical Mother Robot

Robots play an important role in underwater monitoring and recovery operations, such as pollution detection, submarine sampling and data collection, video mapping, and object recovery in dangerous places. However, regular-sized robots may not be suitable for applications in some restricted underwater environments. Accordingly, in previous research we designed several novel types of bio-inspired microrobots using Ionic Polymer Metal Composite （IPMC） and Shape Memory Alloy （SMA） ac- tuators. These microrobots possess some attributes of compact structure, multi-functionality, flexibility, and precise positioning. However, they lack the attributes of long endurance, stable high speed, and large load capacity necessary for real-world appli- cations. To overcome these disadvantages, we proposed a mother-son robot system, composed of several microrobots as sons and a newly designed amphibious spherical robot as the mother. Inspired by amphibious turtles, the mother robot was designed with a spherical body and four legs with two Degrees of Freedom （DOF）. It is actuated by four vectored water-jet propellers and ten servomotors, and it is capable of walking on land and cruising underwater. We analysed the mother robot＇s walking and underwater cruising mechanisms, constructed a prototype, and carried out a series of experiments to evaluate its amphibious motions. Good motion performance was observed in the experiments.     

光学技术在早期龋齿检测中的应用

介绍了光学技术在口腔医学早期龋齿无损检测领域的应用,包括基于牙齿自体荧光效应的定量光导荧光技术和激光龋齿检测技术;基于光散射效应的数字化显影光纤透照术,以及基于牙釉质双折射效应的偏振敏感光学相干断层术和偏振拉曼光谱技术.详细介绍了各种光学方法应用于龋齿检测的基本原理、实验方案和研究现状,并对不同的光学方法进行比较.最后,提出基于频域荧光寿命成像的早期龋齿检测方法,并对该方案的技术路线进行了介绍.