Shape Sensing for Continuum Robotics Using Optoelectronic Sensors with Convex Reflectors

Data Availability Statement: The data presented in this study are available in this article.Three-dimensional shape sensing in soft and continuum robotics is a crucial aspect for stable actuation and control in fields such as minimally invasive surgery, engine repairs and search and rescue operations, as the estimation of complex curvatures while using continuum robotic tools is required to manipulate through fragile paths. This challenge has been addressed using a range of different sensing techniques, for example, Fibre Bragg grating (FBG) technology, inertial measurement unit (IMU) sensor networks, or stretch sensors. Previously, an optics-based method using optoelectronic sensors was explored, offering a simple and cost-effective solution for shape sensing in a flexible tendon-actuated manipulator in two orientations. This was based on proximity-modulated angle estimation and has been the basis for the shape sensing method addressed in this paper. The improved and miniaturised technique demonstrated in this paper is based on the use of a convex shaped reflector with optoelectronic sensors integrated into a tendon-actuated robotic manipulator. Upgraded sensing capability is achieved using optimisation of the convex reflector shape in terms of sensor range and resolution, and improved calibration is achieved through the integration of spherical bearings for friction-free motion. Shape estimation is achieved in two orientations upon calibration of sensors, with a maximum Root-Mean-Square Error (RMS) of 3.37°.Engineering and Physical Sciences Research Council, grant number (EP/T518116/1)

An exploratory survey of the experiences of homophobic bullying among lesbian, gay, bisexual and transgendered young people in Ireland

While developments have been made concerning the understanding of general bullying behaviour in Irish schools, considerably less is known about homophobic bullying. Presented here are the findings of a study into the views and perspectives of a self-selected sample of 123 lesbian, gay, bisexual or transgendered (LGBT) secondary school-aged young people in Ireland. Findings highlight the extent to which such students experience name calling, teasing and bullying in their everyday lives. While exploratory in nature, the study indicates (i) the LGBT population is one 'at risk' of school bullying; (ii) homophobic bullying should be included as a matter of concern in pre-service and in-service teacher training; (iii) that homophobic bullying should be explicitly considered in school anti-bullying policy. Furthermore, from a consideration of the current level of expertise, there are grounds for optimism regarding the development of an inter-agency approach to providing resources and addressing curriculum development in this area in schools in Ireland. © 2008 Educational Studies Association of Ireland

Depletion forces near curved surfaces

Based on density functional theory the influence of curvature on the depletion potential of a single big hard sphere immersed in a fluid of small hard spheres with packing fraction \eta_s either inside or outside of a hard spherical cavity of radius R_c is calculated. The relevant features of this potential are analyzed as function of \eta_s and R_c. There is a very slow convergence towards the flat wall limit R_c \to \infty. Our results allow us to discuss the strength of depletion forces acting near membranes both in normal and lateral directions and to make contact with recent experimental results

Influences of Excluded Volume of Molecules on Signaling Processes on Biomembrane

We investigate the influences of the excluded volume of molecules on biochemical reaction processes on 2-dimensional surfaces using a model of signal transduction processes on biomembranes. We perform simulations of the 2-dimensional cell-based model, which describes the reactions and diffusion of the receptors, signaling proteins, target proteins, and crowders on the cell membrane. The signaling proteins are activated by receptors, and these activated signaling proteins activate target proteins that bind autonomously from the cytoplasm to the membrane, and unbind from the membrane if activated. If the target proteins bind frequently, the volume fraction of molecules on the membrane becomes so large that the excluded volume of the molecules for the reaction and diffusion dynamics cannot be negligible. We find that such excluded volume effects of the molecules induce non-trivial variations of the signal flow, defined as the activation frequency of target proteins, as follows. With an increase in the binding rate of target proteins, the signal flow varies by i) monotonically increasing; ii) increasing then decreasing in a bell-shaped curve; or iii) increasing, decreasing, then increasing in an S-shaped curve. We further demonstrate that the excluded volume of molecules influences the hierarchical molecular distributions throughout the reaction processes. In particular, when the system exhibits a large signal flow, the signaling proteins tend to surround the receptors to form receptor-signaling protein clusters, and the target proteins tend to become distributed around such clusters. To explain these phenomena, we analyze the stochastic model of the local motions of molecules around the receptor.Comment: 31 pages, 10 figure

Hard Spheres in Vesicles: Curvature-Induced Forces and Particle-Induced Curvature

We explore the interplay of membrane curvature and nonspecific binding due to excluded-volume effects among colloidal particles inside lipid bilayer vesicles. We trapped submicron spheres of two different sizes inside a pear-shaped, multilamellar vesicle and found the larger spheres to be pinned to the vesicle's surface and pushed in the direction of increasing curvature. A simple model predicts that hard spheres can induce shape changes in flexible vesicles. The results demonstrate an important relationship between the shape of a vesicle or pore and the arrangement of particles within it.Comment: LaTeX with epsfig; ps available at http://dept.physics.upenn.edu/~nelson/index.shtml Phys Rev Lett in press (1997

A short report examining the introduction of routine use of patient reported outcome measures in a mixed oncology population

Aims: People living with treatable but not curable cancer often experience a range of symptoms related to their cancer and its treatment. During the COVID-19 pandemic, face-to-face consultations were reduced and so remote monitoring of these needs was necessary. University Hospitals Sussex implemented the routine use of electronic remote patient-reported outcome measures (PROMs) in a mixed oncology population, focusing on those with treatable but not curable cancers. Materials and methods: Over a 9-month period, patients were invited to register with My Clinical Outcomes (MCO) – a secure online platform for the collection of electronic PROMs. They were prompted by e-mail to complete assessments (EORTC QLQ-C30, EQ-5D-3L and EQ-5D VAS) routinely every 2 weeks. The team monitored patient scores and changes in these prompted clinical interventions. Results: In total, 324 patients completed at least one assessment. The median number of assessments completed by each patient was eight. The most represented tumour groups were secondary breast (28%), prostate (25%) and other (32%). Median scores for the assessments did not deteriorate in a clinically or numerically significant way for patients living with non-curable conditions for the majority of patients monitored. Conclusion: Routine collection of electronic remote PROMs is an effective and useful strategy to provide real-time clinical feedback to teams. With integration into existing systems, online platforms (such as MCO) could provide efficient and patient-centred information for those providing care for people with cancer

Astrophysical and Astrobiological Implications of Gamma-Ray Burst Properties

Combining results for the local cosmic rate and mean peak luminosity of GRBs with the cosmic history of the star formation rate, we provide estimates for the local GRB rate per unit blue luminosity in galaxies. We find a typical GRB rate per unit B luminosity of 2.4x10^-17 h_{70}^2/Lsun/yr. The corresponding mean rate in the Milky Way is 5.5x10^-7 h_{70}^2/yr. We conclude: 1) the ratio of supernova rate to isotropic equivalent GRB rate is large: more than 6000 SNIbc per GRB or 30,000 SNII per GRB. GRBs could arise in a large fraction of black hole-forming events only with collimation in the range 0.01 - 0.001 and a steep enough slope of the IMF; 2) GRBs cannot account for the majority of large HI holes observed in galaxies; 3) the probability that the solar system was exposed to a fluence large enough to melt the chondrules during the first 10^7 yr of solar system history is negligibly small; 4) Even for very opaque atmospheres, a significant fraction of the GRB energy is transmitted as UV lines due to excitation by secondary electrons. For eukaryotic-like organisms in thin atmospheres (e.g. contemporary Mars), or for UV line exposure in thick atmospheres (e.g. Earth), biologically significant events occur at a rate of about 100--500 /Gyr. The direct contribution of these "jolts" to mutational evolution may, however, be negligible because of the short duration of the GRBs. Evolutionary effects due to partial sterilizations and to longer-lived disruptions of atmospheric chemistry should be more important. (Abridged)Comment: 36 pages, no figures Accepted by Astrophysical Journal Oct. 2001. First submitted December,1999. Substantially rewritten discussion of burst source count distributions and of biological implication

A Didactic Model of Macromolecular Crowding Effects on Protein Folding

A didactic model is presented to illustrate how the effect of macromolecular crowding on protein folding and association is modeled using current analytical theory and discrete molecular dynamics. While analytical treatments of crowding may consider the effect as a potential of average force acting to compress a polypeptide chain into a compact state, the use of simulations enables the presence of crowding reagents to be treated explicitly. Using an analytically solvable toy model for protein folding, an approximate statistical thermodynamic method is directly compared to simulation in order to gauge the effectiveness of current analytical crowding descriptions. Both methodologies are in quantitative agreement under most conditions, indication that both current theory and simulation methods are capable of recapitulating aspects of protein folding even by utilizing a simplistic protein model

Multi-robot grasp planning for sequential assembly operations

This paper addresses the problem of finding robot configurations to grasp assembly parts during a sequence of collaborative assembly operations. We formulate the search for such configurations as a constraint satisfaction problem (CSP).Collision constraints in an operation and transfer constraints between operations determine the sets of feasible robot configurations. We show that solving the connected constraint graph with off-the-shelf CSP algorithms can quickly become infeasible even fora few sequential assembly operations. We present an algorithm which, through the assumption of feasible regrasps, divides the CSP into independent smaller problems that can be solved exponentially faster. The algorithm then uses local search techniques to improve this solution by removing a gradually increasing number of regrasps from the plan. The algorithm enables the user to stop the planner anytime and use the current best plan if the cost of removing regrasps from the plan exceeds the cost of executing those regrasps. We present simulation experiments to compare our algorithm’s performance toa naive algorithm which directly solves the connected constraint graph. We also present a physical robot system which uses the output of our planner to grasp and bring parts together in assembly configurations