Vis2Hap: Vision-based Haptic Rendering by Cross-modal Generation

To assist robots in teleoperation tasks, haptic rendering which allows human operators access a virtual touch feeling has been developed in recent years. Most previous haptic rendering methods strongly rely on data collected by tactile sensors. However, tactile data is not widely available for robots due to their limited reachable space and the restrictions of tactile sensors. To eliminate the need for tactile data, in this paper we propose a novel method named as Vis2Hap to generate haptic rendering from visual inputs that can be obtained from a distance without physical interaction. We take the surface texture of objects as key cues to be conveyed to the human operator. To this end, a generative model is designed to simulate the roughness and slipperiness of the object's surface. To embed haptic cues in Vis2Hap, we use height maps from tactile sensors and spectrograms from friction coefficients as the intermediate outputs of the generative model. Once Vis2Hap is trained, it can be used to generate height maps and spectrograms of new surface textures, from which a friction image can be obtained and displayed on a haptic display. The user study demonstrates that our proposed Vis2Hap method enables users to access a realistic haptic feeling similar to that of physical objects. The proposed vision-based haptic rendering has the potential to enhance human operators' perception of the remote environment and facilitate robotic manipulation

Effect of alkali treatment of lower concentrations on the structure and tensile properties of Pakistan’s coarse cotton fibre

Cotton fibres of high Micronaire values are known to have inferior spinning performance. Either reduction of fibres’ fineness or increase in tensile strength is generally expected to improve the spinnability of fibres. In this piece of research, the effects of alkali treatment at lower concentrations (0.75–2.25M) and higher temperatures (70–100 °C) on the cross-section of cotton fibre and on the tensile strength have been investigated. Observations were made using scanning electron microscopy (SEM) and single fibre tensile strength testing. It was found that the roundness of the fibre cross section was improved and the tensile strength of the fibres also increased after treatment with alkali at lower concentration (0.75 M) and relatively lower temperature (70 °C). It is proposed that such changes occurred due to possible cellulose dissolution/transformations. It was thus concluded that the alkali treatment of cotton fibres at lower concentrations (0.75 M) and 70 °C for a shorter period of time (45 mins) could lead to improvement in tensile strength and roundness of fibre cross-section, thereby improving micronaire

Fabrication of magnetic and photocatalytic polyamide fabric coated with Fe2O3 particles

Hematite (alpha-Fe₂O₃) particles are prepared and synchronously deposited on the surface of polyamide (PA) fabric using ferric sulfate as the precursor, sodium hydroxide as the precipitant, and sodium dodecyl benzene sulfonate as the dispersant in a low temperature hydrothermal process. The Fe₂O₃ coated PA fabric is then modified with silane coupling agent Z-6040. The Fe₂O₃ coated PA fabric and remaining particles are systematically characterized by different techniques, such as small-spot micro X-ray fluorescence (μ-XRF), field-emission scanning electron microscopy (FESEM), energy dispersive X-ray spectroscopy (EDX), transmission electron microscopy (TEM), X-ray diffraction (XRD), Fourier transform infrared spectroscopy (FTIR), X-ray photoelectron spectroscopy (XPS), thermal gravimetric analysis (TGA), differential scanning calorimetry (DSC), diffuse reflectance spectrum (DRS), and vibrating sample magnetometer (VSM). The properties of tensile, durable washing and photocatalytic activity are investigated. The experimental results show that Fe₂O₃ particles composed of nanoparticles having the average crystallite size of 37.8 nm are grafted onto PA fabric and enhanced by coupling agent via the C-Fe, O-Fe and Si-O-Fe bonds. It is found that, after treatments, the thermal stability of PA fabric hardly changes; the visible light absorption capability and magnetism are gained; and the tensile property decreases slightly. It is also confirmed that the Fe₂O₃ coated PA fabric can withstand the repeated washings up to 20 times and photodegrade the adsorbed methyl orange (MO) exposed to ultraviolet (UV) irradiation. Therefore, the present method provides a new strategy for the production of durable magnetic fabric

Effect of fabric structure on the liquid transport characteristics of nonwoven wound dressings

Nonwoven materials are widely used in medical and hygiene applications, and may demonstrate significant anisotropic characteristics in liquid transport. This study investigates the anisotropic liquid transport in such structures, and establishes a relationship between the structure and anisotropic properties of liquid transport. A comprehensive literature review is concerned with previous work on liquid transport in general with particular reference to its importance in the function of wound dressings. Preliminary experiments using commercial nonwoven wound dressing fabrics demonstrated the anisotropic nature of liquid absorption. After a review of existing steady state and dynamic methods of measuring the liquid transport in fabrics, a novel computer-integrated instrument is described that measures the in-plane liquid transmission in up to eight different directions. Needle-punched and hydroentangled fabrics with different structural parameters (fibre type, fibre diameter, fabric porosity and fibre orientation) were produced and characterised. The anisotropic liquid transport properties of these fabrics were tested using the new instrument. Unique theoretical models were established to predict the specific directional permeability of nonwoven fabrics based on the main fabric structural parameters (fibre diameter, fabric porosity and fibre orientation distribution)

Liquid Permeation and Water Vapour Transmission Properties of a Temperature-Sensitive PVDF-g-NIPAAM Barrier Membrane

Both liquid chemical permeation rate of n-hexane and water vapour transmission rate (WVTR) of temperature sensitive polymer membranes made from N-isopropylacrylamide (NIPAAM) grafted Poly(vinylidene fluoride) (PVDF) copolymer (PVDF-g-NIPAAM) were studied in order to evaluate its potential utility as a smart barrier layer in chemical protective clothing. It is found that the breakthrough time in the chemical permeation test decreased when the copolymer membrane were produced in the mass ratio of NIPAAM:PVDF increased from 1:100 to 1:1, and the WVTR of the copolymer membranes made from higher concentrations of NIPAAM (i.e., 1:1 and 1:10 for the mass ratio of NIPAAM:PVDF) at the environmental temperature (40°C) higher than the LCST of NIPAAM (32°C) was markedly greater than that at the environmental temperature (20°C) lower than the LCST of NIPAAM, it is believed that such characteristics is related to both the porous structure of the and the proportion of NIPAAM in the copolymers

Photocatalytic Properties of a Novel Keratin char-TiO2 Composite Films Made through the Calcination of Wool Keratin Coatings Containing TiO2 Precursors

In this study, the photocatalytic properties of novel keratin char-TiO2 composite films, made through the calcination of wool keratin coatings containing TiO2 precursors at 400 °C, were investigated for the photodegradation of organic contaminants under visible light irradiation. Its structural characteristics and photocatalytic performance were systematically examined. It was shown that a self-cleaning hydrophobic keratin char-TiO2 composite film containing meso- and micro-pores was formed after the keratin—TiO2 precursors coating was calcined. In comparison with calcinated TiO2 films, the keratin char-TiO2 composite films doped with the elements of C, N, and S from keratins resulted in decreased crystallinity and a larger water contact angle. The bandgap of the char-TiO2 composite films increased slightly from 3.26 to 3.32 eV, and its separation of photogenerated charge carriers was inhibited to a certain degree. However, it exhibited higher photodegradation efficiency to methyl blue (MB) effluents than the pure calcinated TiO2 films. This was mainly because of its special porous structure, large water contact angle, and high adsorption energy towards organic pollutants, confirmed by the density functional theory calculations. The main active species were 1O2 radicals in the MB photodegradation process