Light-Controlled Micromotors and Soft Microrobots

Mobile microscale devices and microrobots can be powered by catalytic reactions (chemical micromotors) or by external fields. This report is focused on the role of light as a versatile means for wirelessly powering and controlling such microdevices. Recent advances in the development of autonomous micromotors are discussed, where light permits their actuation with unprecedented control and thereby enables advances in the field of active matter. In addition, structuring the light field is a new means to drive soft microrobots that are based on (photo-) responsive polymers. The behavior of the two main classes of thermo- and photoresponsive polymers adopted in microrobotics (poly(N-isopropylacrylamide) and liquid-crystal elastomers) is analyzed, and recent applications are reported. The advantages and limitations of controlling micromotors and microrobots by light are reviewed, and some of the remaining challenges in the development of novel photo-active materials for micromotors and microrobots are discussed

An earthworm-like modular soft robot for locomotion in multi-terrain environments

Robotic locomotion in subterranean environments is still unsolved, and it requires innovative designs and strategies to overcome the challenges of burrowing and moving in unstructured conditions with high pressure and friction at depths of a few centimeters. Inspired by antagonistic muscle contractions and constant volume coelomic chambers observed in earthworms, we designed and developed a modular soft robot based on a peristaltic soft actuator (PSA). The PSA demonstrates two active configurations from a neutral state by switching the input source between positive and negative pressure. PSA generates a longitudinal force for axial penetration and a radial force for anchorage, through bidirectional deformation of the central bellows-like structure, which demonstrates its versatility and ease of control. The performance of PSA depends on the amount and type of fluid confined in an elastomer chamber, generating different forces and displacements. The assembled robot with five PSA modules enabled to perform peristaltic locomotion in different media. The role of friction was also investigated during experimental locomotion tests by attaching passive scales like earthworm setae to the ventral side of the robot. This study proposes a new method for developing a peristaltic earthworm-like soft robot and provides a better understanding of locomotion in different environments

Gabor filter implementation by low-pass image pyramid

For applications needing orientation analysis, Gabor functions provide a well-known and frequently used wavelet decomposition. Localised band-pass low frequency filters, if implemented through direct convolution, lead to costly orientation image decompositions. Association with pyramidal representations yields a more efficient Gabor filter implementation, but this non-orthogona l gaussian decomposition alters the filters overall spectral characteristics . To counteract this effect, corrective action must be take n during the generation of the convolution kernels . Two examples of pyramidal decomposition illustrate the efficiency of our Gabo r filter implementation .Pour les applications nécessitant une analyse par orientations, les fonctions de Gabor produisent une décomposition en ondelettes très utilisée. Cette décomposition par orientation est très lourde en temps de calcul, pour des filtres orientés de type passe-bande positionnés à basse fréquence et appliqués par convolution directe. L'association avec des représentations pyramidales permet une implantation plus efficace des filtres de Gabor. A travers des pyramides non orthogonales comme le sont celles à base de filtrage gaussien, le filtre de Gabor subit des modifications de caractéristiques spectrales. Pour annuler ces modifications, des corrections adéquates doivent être prises en compte dès la génération du noyau de convolution. Deux exemples de décomposition pyramidale sont étudiés, à titre d'illustration et de comparaison

Détection et contrôle par filtrage adaptatif des zones de frontière dans des images multitexturées

La segmentation automatique des images en régions pose le compromis classique entre la formation des régions et la détection des frontières. Dans le cadre des images multitexturées, cette dualité s'exprime dans un espace multidimensionnel, celui des attributs caractérisant les textures. Ici les attributs sont les énergies en sortie de filtres de type passe-bande orienté (filtre de Gabor 2D) intégrées sur une région d'intérêt de taille limitée. En décrivant les caractéristiques spectrales des zones de frontière entre textures, et en utilisant leurs propriétés, on montre que l'on peut diminuer l'incertitude de la position d'une frontière tout en maintenant une formation en région. Cela est réalisé par un processus simple de régularisation pour réaliser de manière adaptative l'intégration spatiale des mesures d'énergie caractérisant les textures

BioCIDER: a Contextualisation InDEx for biological Resources discovery

Summary The vast, uncoordinated proliferation of bioinformatics resources (databases, software tools, training materials etc.) makes it difficult for users to find them. To facilitate their discovery, various services are being developed to collect such resources into registries. We have developed BioCIDER, which, rather like online shopping ‘recommendations’, provides a contextualization index to help identify biological resources relevant to the content of the sites in which it is embedded

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Stranger to Familiar: Wild Strepsirhines Manage Xenophobia by Playing

The power of play in limiting xenophobia is a well-known phenomenon in humans. Yet, the evidence in social animals remains meager. Here, we aim to determine whether play promotes social tolerance toward strangers in one of the most basal group of primates, the strepsirhines. We observed two groups of wild lemurs (Propithecus verreauxi, Verreaux's sifaka) during the mating season. Data were also collected on nine visiting, outgroup males. We compared the distribution of play, grooming, and aggressive interactions across three conditions: OUT (resident/outgroup interactions), IN (resident/resident interactions in presence of outgroups) and BL-IN (baseline of resident/resident interactions in absence of outgroups). Play frequency between males was higher in OUT than in IN and BL-IN conditions; whereas, grooming was more frequent in IN than in OUT and BL-IN conditions. Aggression rates between resident and outgroup males were significantly higher than those between residents. However, aggressions between resident and outgroup males significantly decreased after the first play session and became comparable with resident-resident aggression levels. The presence of strangers in a well-established group implies the onset of novel social circumstances, which sifaka males cope with by two different tactics: grooming with ingroup males and playing with outgroup ones. The grooming peak, concurrently with the visit of outgroups, probably represents a social shield adopted by resident males to make their pre-existing affiliation more evident to the stranger “audience”. Being mostly restricted to unfamiliar males, adult play in sifaka appears to have a role in managing new social situations more than in maintaining old relationships. In particular, our results indicate not only that play is the interface between strangers but also that it has a specific function in reducing xenophobia. In conclusion, play appears to be an ice-breaker mechanism in the critical process that “upgrades” an individual from stranger to familiar

A project for polarimetric observations in single dish with Medicina and Noto 32 m antennas

A project with multidisciplinary characteristics, aimed to implement the possibility of polarimetric measurements in single dish at the VLBI stations of Medicina and Noto, is presented. The project will open a new window on many astrophysical items that may be approached using the already existing instrumentation and facilities of the two Italian radioastronomical stations. We report here some scientific backgrounds, together with some technical evaluations, on which the feasibility of the project is based

Far and mid infrared observations of two ultracompact H II regions and one compact CO clump

Two ultracompact H II regions (IRAS 19181+1349 and 20178+4046) and one compact molecular clump (20286+4105) have been observed at far infrared wavelengths using the TIFR 1 m balloon-borne telescope and at mid infrared wavelengths using ISO. Far infrared observations have been made simultaneously in two bands with effective wavelengths of ~ 150 and ~ 210 micron, using liquid 3He cooled bolometer arrays. ISO observations have been made in seven spectral bands using the ISOCAM instrument; four of these bands cover the emission from Polycyclic Aromatic Hydrocarbon (PAH) molecules. In addition, IRAS survey data for these sources in the four IRAS bands have been processed using the HIRES routine. In the high resolution mid infrared maps as well as far infrared maps multiple embedded energy sources have been resolved. There are structural similarities between the images in the mid infrared and the large scale maps in the far infrared bands, despite very different angular resolutions of the two. Dust temperature and optical depth (tau_150 um) maps have also been generated using the data from balloon-borne observations. Spectral energy distributions (SEDs) for these sources have been constructed by combining the data from all these observations. Radiation transfer calculations have been made to understand these SEDs. Parameters for the dust envelopes in these sources have been derived by fitting the observed SEDs. In particular, it has been found that radial density distribution for three sources is diffrent. Whereas in the case of IRAS 20178+4046, a steep distribution of the form r^-2 is favoured, for IRAS 20286+4105 it is r^-1 and for IRAS 19181+1349 it the uniform distribution (r^0). Line ratios for PAH bands have generally been found to be similar to those for other compact H II regions but different from general H II regions.Comment: To appear in Astronomy & Astrophysics; (19 pages including 14 Figures and 6 Tables

SPS’ Digest: the Swiss Proteomics Society selection of proteomics articles

Despite the consolidation of the specialized proteomics literature around a few established journals, such as Proteomics, Molecular and Cellular Proteomics, and the Journal of Proteome Research, a lot of information is still spread in many different publications from different fields, such as analytical sciences, MS, bioinformatics, etc. The purpose of SPS’ Digest is to gather a selection of proteomics articles, to categorize them, and to make the list available on a periodic basis through a web page and email alerts