Switching dynamics of surface stabilized ferroelectric liquid crystal cells: effects of anchoring energy asymmetry

We study both theoretically and experimentally switching dynamics in surface stabilized ferroelectric liquid crystal cells with asymmetric boundary conditions. In these cells the bounding surfaces are treated differently to produce asymmetry in their anchoring properties. Our electro-optic measurements of the switching voltage thresholds that are determined by the peaks of the reversal polarization current reveal the frequency dependent shift of the hysteresis loop. We examine the predictions of the uniform dynamical model with the anchoring energy taken into account. It is found that the asymmetry effects are dominated by the polar contribution to the anchoring energy. Frequency dependence of the voltage thresholds is studied by analyzing the properties of time-periodic solutions to the dynamical equation (cycles). For this purpose, we apply the method that uses the parameterized half-period mappings for the approximate model and relate the cycles to the fixed points of the composition of two half-period mappings. The cycles are found to be unstable and can only be formed when the driving frequency is lower than its critical value. The polar anchoring parameter is estimated by making a comparison between the results of modelling and the experimental data for the shift vs frequency curve. For a double-well potential considered as a deformation of the Rapini-Papoular potential, the branch of stable cycles emerges in the low frequency region separated by the gap from the high frequency interval for unstable cycles.Comment: 35 pages, 15 figure

Hardware Sequencing of Inflatable Nonlinear Actuators for Autonomous Soft Robots

Soft robots are an interesting alternative for classic rigid robots in appli-cations requiring interaction with organisms or delicate objects. Elastic inflatable actuators are one of the preferred actuation mechanisms for soft robots since they are intrinsically safe and soft. However, these pneumatic actuators each require a dedicated pressure supply and valve to drive and control their actuation sequence. Because of the relatively large size of pres-sure supplies and valves compared to electrical leads and electronic control-lers, tethering pneumatic soft robots with multiple degrees of freedom is bulky and unpractical. Here, a new approach is described to embed hardware intelligence in soft robots where multiple actuators are attached to the same pressure supply, and their actuation sequence is programmed by the inter-action between nonlinear actuators and passive flow restrictions. How to model this hardware sequencing is discussed, and it is demonstrated on an 8-degree-of-freedom walking robot where each limb comprises two actua-tors with a sequence embedded in their hardware. The robot is able to carry pay loads of 800 g in addition to its own weight and is able to walk at travel speeds of 3 body lengths per minute, without the need for complex on-board valves or bulky tethers.ERC starting gran

Body Wall Force Sensor for Simulated Minimally Invasive Surgery: Application to Fetal Surgery

Surgical interventions are increasingly executed minimal invasively. Surgeons insert instruments through tiny incisions in the body and pivot slender instruments to treat organs or tissue below the surface. While a blessing for patients, surgeons need to pay extra attention to overcome the fulcrum effect, reduced haptic feedback and deal with lost hand-eye coordination. The mental load makes it difficult to pay sufficient attention to the forces that are exerted on the body wall. In delicate procedures such as fetal surgery, this might be problematic as irreparable damage could cause premature delivery. As a first attempt to quantify the interaction forces applied on the patient's body wall, a novel 6 degrees of freedom force sensor was developed for an ex-vivo set up. The performance of the sensor was characterised. User experiments were conducted by 3 clinicians on a set up simulating a fetal surgical intervention. During these simulated interventions, the interaction forces were recorded and analysed when a normal instrument was employed. These results were compared with a session where a flexible instrument under haptic guidance was used. The conducted experiments resulted in interesting insights in the interaction forces and stresses that develop during such difficult surgical intervention. The results also implicated that haptic guidance schemes and the use of flexible instruments rather than rigid ones could have a significant impact on the stresses that occur at the body wall

Haptic Guidance in Comanipulated Laser Surgery for Fetal Disorders

The current techniques in minimal invasive surgery allow to treat fetal disorders. In fetal interventions very precise instrument manipulation is required from the surgeon. For instance in the treatment of the twin-to-twin transfusion syndrome (TTTS) it is crucial that the surgeon maintains a specific distance between the tip of the employed instrument and the placenta, while lasering target sites on the placenta. To facilitate this procedure, we suggest a new approach where the surgeon comanipulates the instruments together with a robotic stabilizer arm. The stabilizer arm provides haptic guidance to the surgeon, augmenting the surgeon's dexterity and precision. The first results show that this approach is promising

Haptic Guidance Based on All-Optical Ultrasound Distance Sensing for Safer Minimally Invasive Fetal Surgery

By intervening during the early stage of gestation, fetal surgeons aim to correct or minimize the effects of congenital disorders. As compared to postnatal treatment of these disorders, such early interventions can often actually save the life of the fetus and also improve the quality of life of the newborn. However, fetal surgery is considered one of the most challenging disciplines within Minimally Invasive Surgery (MIS), owing to factors such as the fragility of the anatomic features, poor visibility, limited manoeuvrability, and extreme requirements in terms of instrument handling with precise positioning. This work is centered on a fetal laser surgery procedure treating placental disorders. It proposes the use of haptic guidance to enhance the overall safety of this procedure and to simplify instrument handling. A method is described that provides effective guidance by installing a forbidden region virtual fixture over the placenta, thereby safeguarding adequate clearance between the instrument tip and the placenta. With a novel application of all-optical ultrasound distance sensing in which transmission and reception are performed with fibre optics, this method can be used with a sole reliance on intraoperatively acquired data. The added value of the guidance approach, in terms of safety and performance, is demonstrated in a series of experiments with a robotic platform

Complementary Platforms

We introduce an analytical framework close to the canonical model of platform competition investigated by Rochet and Tirole (2006) to study pricing decisions in two-sided markets when two or more platforms are needed simultaneously for the successful completion of a transaction. The model developed is a natural extension of the Cournot-Ellet theory of complementary monopoly featuring clear cut asymmetric single- and multihoming patterns across the market. The results indicate that the so-called anticommons problem generalizes to two-sided markets because individual platforms do not take into account the negative pricing externality they exert on the other platforms. As a result, mergers between such platforms may be welfare enhancing, but involve redistribution of surplus from one side of the market to the other. Moreover, the limit of an atomistic allocation of property rights however is not monopoly pricing, indicating that there also exist differences with the received theory of complementarity

New Type of Turbidostat with Intermittent Determination of Cell Density Outside the Culture Vessel

An inexpensive turbidostat featuring intermittent determination of optical density in an interchangeable measuring tube and incorporating electronic circuits for the automated mechanics is described

Theoretical and experimental analysis of pneumatic balloon microactuators

This paper presents a theoretical and experimental analysis of a biologically inspired balloon-type pneumatic microactuator. The operation principle of pneumatic balloon actuators (PBA's) is based on an asymmetric deflection of two PDMS layers with different thicknesses or different Young's moduli that are bonded together. A new analytical 2D model that describes the complex behavior of these actuators is presented and validated using both 3D FEM models and measurements. The actuators have dimensions ranging from 11 mm × 2 mm × 0.24 mm to 4 mm × 1 mm × 0.12 mm. Their fabrication is based on micromolding of PDMS, and can therefore easily be fabricated in high throughput. Measurements showed that the analytical model provides a qualitative description of the actuator behavior, and showed that the larger actuators are capable of delivering a 7 mm stroke at a supply pressure of 70 kPa and a force of max 22 mN at a supply pressure of 105 kPa. © 2011 Elsevier B.V. All rights reserved

Arbeidsverhoudingen theorie en praktijk. Deel 1. Door W. H. J. Reynaerts it A. G. Nagelkerke.

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