Visual-Tactile Fusion for Robotic Stable Grasping

The stable grasp is the basis of robotic manipulation. It requires balance of the contact forces and the operated object. The status of the grasp determined by vision is direct according to the object’s shape or texture, but quite challenging. The tactile sensor can provide the effective way. In this work, we propose the visual-tactile fusion framework for predicting the grasp. Meanwhile, the object intrinsic property is also used. More than 2550 grasping trials using a novel robot hand with multiple tactile sensors are collected. And visual-tactile intrinsic deep neural network (DNN) is evaluated to prove the performance. The experimental results show the superiority of the proposed method

Diversity of archaea and bacteria in a biogas reactor fed with Pennisetum sinese Roxb by 16S rRNA sequence analysis

Purpose: To investigate the structure and function of the complex rumen microbial community in a biogas reactor by 16S rRNA gene analysis, which was fed with Pennisetum sinese Roxb as the monosubstrate.Methods: Two 16S ribosomal RNA (rRNA) clone libraries of bacteria and archaea were established by polymerase chain reaction. Community structure was determined by phylogenetic analyses of 119 and 100 16S rRNA gene clones from the bacterial and archaeal libraries, respectively.Results: In the bacterial library, 13.4 % of clones were affiliated with Treponema porcinum, 5.9 % with Eubacterium limosum, 5 % with Clostridium, 5 % with Bacteroidetes, 4.2 % with Firmicutes, 2.5 % with Anaerofilum and a total of 64 % clones belonged to unclassified or uncultured bacteria. In the archaeal library, Methanobacterium curvum made up 12 % of known clones, Methanosarcina barkeri represented 8 %, Methanobacterium bryantii represented 4 % and Methanofollis ethanolicus represented 2 %, respectively; the remaining 74 % of the clones were unclassified archaebacteria.Conclusion: T. porcinum and M. curvum are the most predominant bacteria and archaea in a biogas reactor fed with P. sinese as the sole substrate.Keywords: Pennisetum sinese Roxb, Archaea, Bacteria, Biogas reactor, 16S rDNA sequencin

Temperature-controlled electrospinning of EVOH nanofibre mats encapsulated with Ag, CuO, and ZnO particles for skin wound dressing

To treat skin burns, a new wound dressing, nanofibre mats with metal or metal oxide nanoparticles (Ag, CuO, and ZnO), was fabricated using the electrospinning technique. During a therapeutic process, the antibacterial ability and bio-compatibility of a new dressing material are of major concern. To expound the characteristics of ethylene vinyl alcohol (EVOH) nanofibre mats encapsulated with metal or metal oxide nanoparticles, denoted as Ag-EVOH, CuO-EVOH, and ZnO-EVOH, for use as new wound dressing materials, we investigated the suitable processing parameters to fabricate these materials, such as the voltage, tip-to-collector distance, concentration of the solution, and effect of environmental temperature. The antibacterial ability and bio-compatibility of Ag-EVOH, CuO-EVOH, and ZnO-EVOH were then tested and quantified. The outcomes show that the most suitable temperature for the fabrication of the materials is 40 °C (±3 °C). The antibacterial experiment results indicate that 0.08 g/ml of metal/metallic oxide shows the highest antibacterial ability toward Staphylococcus aureus. Furthermore, the largest diameters of the bacteriostatic loops of the three types of nanofibre mats, i.e. Ag-EVOH, CuO-EVOH, and ZnO-EVOH, are 5.89, 5.21, and 4.12 mm, respectively. Finally, the cell proliferations on the three nanofibre mats show a similar growth trend

Digital distance control system research and implementation

AbstractThe paper introduced a mathematical model of three segment speed reference in main shaft hoist system, and an application of equivalent area method to control shaft hoist shut-down precisely using three segment speed reference curve. In order to verify the correctness of the theory, we established a MATLAB model. From mathematical analysis and computer simulation, we can see that this control approach is feasible