A cost-effective intelligent robotic system with dual-arm dexterous coordination and real-time vision

Dexterous coordination of manipulators based on the use of redundant degrees of freedom, multiple sensors, and built-in robot intelligence represents a critical breakthrough in development of advanced manufacturing technology. A cost-effective approach for achieving this new generation of robotics has been made possible by the unprecedented growth of the latest microcomputer and network systems. The resulting flexible automation offers the opportunity to improve the product quality, increase the reliability of the manufacturing process, and augment the production procedures for optimizing the utilization of the robotic system. Moreover, the Advanced Robotic System (ARS) is modular in design and can be upgraded by closely following technological advancements as they occur in various fields. This approach to manufacturing automation enhances the financial justification and ensures the long-term profitability and most efficient implementation of robotic technology. The new system also addresses a broad spectrum of manufacturing demand and has the potential to address both complex jobs as well as highly labor-intensive tasks. The ARS prototype employs the decomposed optimization technique in spatial planning. This technique is implemented to the framework of the sensor-actuator network to establish the general-purpose geometric reasoning system. The development computer system is a multiple microcomputer network system, which provides the architecture for executing the modular network computing algorithms. The knowledge-based approach used in both the robot vision subsystem and the manipulation control subsystems results in the real-time image processing vision-based capability. The vision-based task environment analysis capability and the responsive motion capability are under the command of the local intelligence centers. An array of ultrasonic, proximity, and optoelectronic sensors is used for path planning. The ARS currently has 18 degrees of freedom made up by two articulated arms, one movable robot head, and two charged coupled device (CCD) cameras for producing the stereoscopic views, and articulated cylindrical-type lower body, and an optional mobile base. A functional prototype is demonstrated

Millimeter-wave diode-grid phase shifters

Monolithic diode grids have been fabricated on 2-cm square gallium-arsenide wafers with 1600 Schottky-barrier varactor diodes. Shorted diodes are detected with a liquid-crystal technique, and the bad diodes are removed with an ultrasonic probe. A small-aperture reflectometer that uses wavefront division interference was developed to measure the reflection coefficient of the grids. A Phase shift of 70° with a 7-dB loss was obtained at 93 GHz when the bias on the diode grid was changed from -3 V to 1 V. A simple transmission-line grid model, together with the measured low-frequency parameters for the diodes, was shown to predict the measured performance over the entire capacitive bias range of the diodes, as well as over the complete reactive tuning range provided by a reflector behind the grid, and over a wide range of frequencies form 33 GHz to 141 GHz. This shows that the transmission-line model and the measured low-frequency diode parameters can be used to design an electronic beam-steering array and to predict its performance. An electronic beam-steering array made of a pair of grids using state-of-the-art diodes with 5-Ω series resistances would have a loss of 1.4 dB at 90 GHz

Millimeter-Wave Diode-Grid Frequency Doubler

Monolithic diode grid were fabricated on 2-cm^2 gallium-arsenide wafers in a proof-of-principle test of a quasi-optical varactor millimeter-wave frequency multiplier array concept. An equivalent circuit model based on a transmission-line analysis of plane wave illumination was applied to predict the array performance. The doubler experiments were performed under far-field illumination conditions. A second-harmonic conversion efficiency of 9.5% and output powers of 0.5 W were achieved at 66 GHz when the diode grid was pumped with a pulsed source at 33 GHz. This grid had 760 Schottky-barrier varactor diodes. The average series resistance was 27 Ω, the minimum capacitance was 18 fF at a reverse breakdown voltage of -3 V. The measurements indicate that the diode grid is a feasible device for generating watt-level powers at millimeter frequencies and that substantial improvement is possible by improving the diode breakdown voltage

Active cancellation of servo-induced noise on stabilized lasers via feedforward

Many precision laser applications require active frequency stabilization. However, such stabilization loops operate by pushing noise to frequencies outside their bandwidth, leading to large "servo bumps" that can have deleterious effects for certain applications. The prevailing approach to filtering this noise is to pass the laser through a high finesse optical cavity, which places constraints on the system design. Here, we propose and demonstrate a different approach where a frequency error signal is derived from a beat note between the laser and the light that passes through the reference cavity. The phase noise derived from this beat note is fed forward to an electro-optic modulator after the laser, carefully accounting for relative delay, for real-time frequency correction. With a Hz-linewidth laser, we show $\gtrsim20$ dB noise suppression at the peak of the servo bump ($\approx250$ kHz), and a noise suppression bandwidth of $\approx5$ MHz -- well beyond the servo bump. By simulating the Rabi dynamics of a two-level atom with our measured data, we demonstrate substantial improvements to the pulse fidelity over a wide range of Rabi frequencies. Our approach offers a simple and versatile method for obtaining a clean spectrum of a narrow linewidth laser, as required in many emerging applications of cold atoms, and is readily compatible with commercial systems that may even include wavelength conversion

Where do we go from here? An assessment of navigation performance using a compass versus a GPS unit

The Global Positioning System (GPS) looks set to replace the traditional map and compass for navigation tasks in military and civil domains. However, we may ask whether GPS has a real performance advantage over traditional methods. We present an exploratory study using a waypoint plotting task to compare the standard magnetic compass against a military GPS unit, for both expert and non-expert navigators. Whilst performance times were generally longer in setting up the GPS unit, once navigation was underway the GPS was more efficient than the compass. For mediumto long-term missions, this means that GPS could offer significant performance benefits, although the compass remains superior for shorter missions. Notwithstanding the performance times, significantly more errors, and more serious errors, occurred when using the compass. Overall, then, the GPS offers some clear advantages, especially for non-expert users. Nonetheless, concerns over the development of cognitive maps remain when using GPS technologies

In silico and in vitro drug screening identifies new therapeutic approaches for Ewing sarcoma.

The long-term overall survival of Ewing sarcoma (EWS) patients remains poor; less than 30% of patients with metastatic or recurrent disease survive despite aggressive combinations of chemotherapy, radiation and surgery. To identify new therapeutic options, we employed a multi-pronged approach using in silico predictions of drug activity via an integrated bioinformatics approach in parallel with an in vitro screen of FDA-approved drugs. Twenty-seven drugs and forty-six drugs were identified, respectively, to have anti-proliferative effects for EWS, including several classes of drugs in both screening approaches. Among these drugs, 30 were extensively validated as mono-therapeutic agents and 9 in 14 various combinations in vitro. Two drugs, auranofin, a thioredoxin reductase inhibitor, and ganetespib, an HSP90 inhibitor, were predicted to have anti-cancer activities in silico and were confirmed active across a panel of genetically diverse EWS cells. When given in combination, the survival rate in vivo was superior compared to auranofin or ganetespib alone. Importantly, extensive formulations, dose tolerance, and pharmacokinetics studies demonstrated that auranofin requires alternative delivery routes to achieve therapeutically effective levels of the gold compound. These combined screening approaches provide a rapid means to identify new treatment options for patients with a rare and often-fatal disease

Diode-grids for millimeter-wave phase-shifters and frequency doublers

Diode-grids have been fabricated on 2-cm square monolithic gallium-arsenide wafers with 1600 Schottky varactor-diodes. A computer-controlled reflectometer that uses a wave-front division interference technique was developed to measure the reflection coefficient of the diode-grids. A 70° phase shift with a 6-dB loss was obtained at 93 GHz when the bias on the diode-grid was changed from -3V to +1V. A second harmonic conversion efficiency of 16% and an output power of 0.5 W was obtained at 66 GHz when the diode-grid was pumped with a pulsed magnetron at 33 GHz

Pt nanoparticles decorated rose-like Bi2O2CO3 configurations for efficient photocatalytic removal of water organic pollutants

Pt nanoparticles decorated with rose-like Bi2O2CO3 configurations were synthesized via a simple photoreduction method at room temperature. The structure, morphology, optical and electronic properties, and photocatalytic performance of the as-prepared materials were characterized. Compared to pure Bi2O2CO3, the Pt/Bi2O2CO3 photocatalysts show better performance in decomposing RhB, BPA and OTC under visible light (? > 420 nm). The enhanced photocatalytic activity of Pt/Bi2O2CO3 could be attributed to the modification in light absorption (? > 420 nm) charge migration and the separation of photo-generated electrons (e?) and holes (h+). Free radical trapping experiments demonstrated that the main active species of the catalytic reaction are different in decomposing RhB and BPA.publishersversionPeer reviewe

Repetitive readout and real-time control of nuclear spin qubits in 171^{171}Yb atoms

We demonstrate high fidelity repetitive projective measurements of nuclear spin qubits in an array of neutral ytterbium-171 ($^{171}$Yb) atoms. We show that the qubit state can be measured with a fidelity of 0.995(4) under a condition that leaves it in the state corresponding to the measurement outcome with a probability of 0.993(6) for a single tweezer and 0.981(4) averaged over the array. This is accomplished by near-perfect cyclicity of one of the nuclear spin qubit states with an optically excited state under a magnetic field of $B=58$ G, resulting in a bright/dark contrast of $\approx10^5$ during fluorescence readout. The performance improves further as $\sim1/B^2$. The state-averaged readout survival of 0.98(1) is limited by off-resonant scattering to dark states and can be addressed via post-selection by measuring the atom number at the end of the circuit, or during the circuit by performing a measurement of both qubit states. We combine projective measurements with high-fidelity rotations of the nuclear spin qubit via an AC magnetic field to explore several paradigmatic scenarios, including the non-commutivity of measurements in orthogonal bases, and the quantum Zeno mechanism in which measurements "freeze" coherent evolution. Finally, we employ real-time feedforward to repetitively deterministically prepare the qubit in the $+z$ or $-z$ direction after initializing it in an orthogonal basis and performing a projective measurement in the $z$-basis. These capabilities constitute an important step towards adaptive quantum circuits with atom arrays, such as in measurement-based quantum computation, fast many-body state preparation, holographic dynamics simulations, and quantum error correction

Oral health Inequalities in 0-17-year-old children referred for dental extractions under general anaesthesia in Wolverhampton, 2013-2017

This is an accepted manuscript of an article published by Dennis Barber in Community Dental Health on 20/04/2020, available online: 10.1922/CDH_00056Harper06 The accepted version of the publication may differ from the final published version.OBJECTIVE:Describe the inequalities in oral health in children treated in a hospital located in a deprived urban area in the UK. RESEARCH DESIGN:Case-note review of 1911 0-17-year-olds who underwent dental extractions under a general anaesthetic (DGA). MAIN OUTCOME MEASURES:Associations between Age, Ethnicity, Year-of-Treatment and Index of Multiple Deprivation (IMD) with the number of teeth extracted. Analysis used multilevel modelling assuming a Poisson distribution. RESULTS:Mean number of teeth extracted was higher in the youngest children treated aged 0-5 years (relative risk coefficient, (RR=exp(β)=1.39; 95% CI 1.24 to 1.56) compared to those aged 6-17 years and in 'Other Whites' (predominantly immigrants from Eastern Europe) (RR=exp(β)=1.34; 95% CI 1.25 to 1.43), 'South Asians' (RR=exp(β)=1.15; 95% CI 1.08 to 1.23) but fewer in the 'Black' ethnic group (RR=exp(β)=0.85; 95% CI 0.76 to 0.95). DGA increased during the study with more teeth extracted in 2015, 2016 and 2017 (RR=exp(β)=1.12, 95% CI 1.22, 1.25) and with a negative gradient in the rate of DGA's (per decile) in children from the most deprived to most affluent locations (RR=exp(β)=0.98; 95% CI 0.97 to 0.99). CONCLUSIONS:Significant oral health inequalities exist in children from a deprived urban area in the UK. A preventive approach to children's oral health is needed to reduce such inequalities, including public health and healthcare agencies to informing parents of children whose first language is not English about dental caries.Published versio