Multiplexed Force and Deflection Sensing Shell Membranes for Robotic Manipulators

Force sensing is an essential requirement for dexterous robot manipulation, e.g., for extravehicular robots making vehicle repairs. Although strain gauges have been widely used, a new sensing approach is desirable for applications that require greater robustness, design flexibility including a high degree of multiplexibility, and immunity to electromagnetic noise. This invention is a force and deflection sensor a flexible shell formed with an elastomer having passageways formed by apertures in the shell, with an optical fiber having one or more Bragg gratings positioned in the passageways for the measurement of force and deflection

Force and deflection sensor with shell membrane and optical gratings and method of manufacture

A sensor for force is formed from an elastomeric cylinder having a region with apertures. The apertures have passageways formed between them, and an optical fiber is introduced into these passageways, where the optical fiber has a grating for measurement of tension positioned in the passageways between apertures. Optionally, a temperature measurement sensor is placed in or around the elastomer for temperature correction, and if required, a copper film may be deposited in the elastomer for reduced sensitivity to spot temperature variations in the elastomer near the sensors

Process for manufacturing shell membrane force and deflection sensor

A sensor for force is formed from an elastomeric cylinder having a region with apertures. The apertures have passageways formed between them, and an optical fiber is introduced into these passageways, where the optical fiber has a grating for measurement of tension positioned in the passageways between apertures. Optionally, a temperature measurement sensor is placed in or around the elastomer for temperature correction, and if required, a copper film may be deposited in the elastomer for reduced sensitivity to spot temperature variations in the elastomer near the sensors

Influence of Coalescence on the Anisotropic Mechanical and Electrical Properties of Nickel Powder/Polydimethylsiloxane Composites.

Multifunctional polymer-based composites have been widely used in various research and industrial applications, such as flexible and stretchable electronics and sensors and sensor-integrated smart structures. This study investigates the influence of particle coalescence on the mechanical and electrical properties of spherical nickel powder (SNP)/polydimethylsiloxane (PDMS) composites in which SNP was aligned using an external magnetic field. With the increase of the volume fraction of the SNP, the aligned SNP/PDMS composites exhibited a higher tensile strength and a lower ultimate strain. In addition, the composites with aligned SNP showed a lower percolation threshold and a higher electrical conductivity compared with those with randomly dispersed SNP. However, when the concentration of the SNP reached a certain level (40 vol. %), the anisotropy of the effective material property became less noticeable than that of the lower concentration (20 vol. %) composites due to the change of the microstructure of the particles caused by the coalescence of the particles at a high concentration. This work may provide rational methods for the fabrication of aligned composites

Influence of cross-sectional geometry on the sensitivity and hysteresis of liquidphase electronic pressure sensors

Differential reflectance modulation sensing with diffractive microstructures Appl. Phys. Lett. 101, 191103 (2012) Silicon nanowire based Pirani sensor for vacuum measurements Appl. Phys. Lett. 101, 183506 (2012) Note: Position self-sensing for piezoelectric actuators in the presence of creep and rate-dependent hysteresis Rev. Sci. Instrum. 83, 116101 (2012) Dynamic photoacoustic spectroscopy for trace gas detectio

Fingertip force control with embedded fiber Bragg grating sensors

Abstract—We describe the dynamic testing and control results obtained with an exoskeletal robot finger with embedded fiber optical sensors. The finger is inspired by the designs of arthropod limbs, with integral strain sensilla concentrated near the joints. The use of fiber Bragg gratings (FBGs) allows for embedded sensors with high strain sensitivity and immunity to electromagnetic interference. The embedded sensors are useful for contact detection and for control of forces during fine manipulation. The application to force control requires precise and high-bandwidth measurement of contact forces. We present a nonlinear force control approach that combines signals from an optical interrogator and conventional joint angle sensors to achieve accurate tracking of desired contact forces. I

Suppressive Effect on Lipopolysaccharide-Induced Proinflammatory Mediators by Citrus aurantium L. in Macrophage RAW 264.7 Cells via NF-κB Signal Pathway

Citrus fruits have been used as an edible fruit and a traditional medicine since ancient times. In particular, the peels of immature citrus fruits are used widely in traditional herbal medicine in Korea, as they are believed to contain bioactive components exerting anti-inflammatory activity. This study examined whether the crude methanol extract of Citrus aurantium L. (CME) has a suppressive effect on inducible enzymes and proinflammatory cytokines by inhibiting the NF-κB pathway in LPS-stimulated macrophage RAW 264.7 cells. The cells were pretreated with the indicated concentrations of CME (5, 10, 20, and 50 μg/mL) and then treated with LPS (1 μg/mL). The results showed that CME (10, 20, and 50 μg/mL) inhibited the LPS- (1 μg/mL) induced mRNA and protein expression of iNOS in macrophage Raw 264.7 cells. In addition, the expression of COX-2 was inhibited at the mRNA and protein levels by CME in a dose-dependent manner. The mRNA expression of proinflammatory cytokines, such as TNF-α and IL-6, were markedly reduced by CME (10, 20, and 50 μg/mL). Moreover, CME clearly suppressed the nuclear translocation of the NF-κB p65 subunits, which was correlated with its inhibitory effect on I-κB phosphorylation. These results suggest that CME has anti-inflammatory properties by modulating the expression of COX-2, iNOS, and proinflammatory cytokines, such as TNF-α and IL-6, in macrophage RAW 264.7 cells via the NF-κB pathway

Growth hormone-releasing hormone (GHRH) polymorphisms associated with carcass traits of meat in Korean cattle

BACKGROUND: Cold carcass weight (CW) and longissimus muscle area (EMA) are the major quantitative traits in beef cattle. In this study, we found several polymorphisms of growth hormone-releasing hormone (GHRH) gene and examined the association of polymorphisms with carcass traits (CW and EMA) in Korean native cattle (Hanwoo). RESULTS: By direct DNA sequencing in 24 unrelated Korean cattle, we identified 12 single nucleotide polymorphisms within the 9 kb full gene region, including the 1.5 kb promoter region. Among them, six polymorphic sites were selected for genotyping in our beef cattle (n = 428) and five marker haplotypes (frequency > 0.1) were identified. Statistical analysis revealed that -4241A>T showed significant associations with CW and EMA. CONCLUSION: Our findings suggest that polymorphisms in GHRH might be one of the important genetic factors that influence carcass yield in beef cattle. Sequence variation/haplotype information identified in this study would provide valuable information for the production of a commercial line of beef cattle