Automatic Configuration Recognition Methods in Modular Robots

Recognizing useful modular robot configurations composed of hundreds of modules is a significant challenge. Matching a new modular robot configuration to a library of known configurations is essential in identifying and applying control schemes. We present three different algorithms to address the problem of (a) matching and (b) mapping new robot configurations onto a library of known configurations. The first method solves the problem using graph isomorphisms and can identify configurations that share the same underlying graph structure, but have different port connections amongst the modules. The second approach compares graph spectra of configuration matrices to find a permutation matrix that maps a given configuration to a known one. The third algorithm exploits the unique structure of the problem for the particular robots used in our research to achieve impressive gains in performance and speed over existing techniques, especially for larger configurations. With these three algorithms, this paper presents novel solutions to the problem of configuration recognition and sheds light on theoretical and practical issues for long-term advances in this important area of modular robotics. Results and examples are provided to compare the performance of the three algorithms and discuss their relative advantages

MOEMS deformable mirror testing in cryo for future optical instrumentation

MOEMS Deformable Mirrors (DM) are key components for next generation instruments with innovative adaptive optics systems, in existing telescopes and in the future ELTs. These DMs must perform at room temperature as well as in cryogenic and vacuum environment. Ideally, the MOEMS-DMs must be designed to operate in such environment. We present some major rules for designing / operating DMs in cryo and vacuum. We chose to use interferometry for the full characterization of these devices, including surface quality measurement in static and dynamical modes, at ambient and in vacuum/cryo. Thanks to our previous set-up developments, we placed a compact cryo-vacuum chamber designed for reaching 10-6 mbar and 160K, in front of our custom Michelson interferometer, able to measure performances of the DM at actuator/segment level as well as whole mirror level, with a lateral resolution of 2{\mu}m and a sub-nanometric z-resolution. Using this interferometric bench, we tested the Iris AO PTT111 DM: this unique and robust design uses an array of single crystalline silicon hexagonal mirrors with a pitch of 606{\mu}m, able to move in tip, tilt and piston with strokes from 5 to 7{\mu}m, and tilt angle in the range of +/-5mrad. They exhibit typically an open-loop flat surface figure as good as <20nm rms. A specific mount including electronic and opto-mechanical interfaces has been designed for fitting in the test chamber. Segment deformation, mirror shaping, open-loop operation are tested at room and cryo temperature and results are compared. The device could be operated successfully at 160K. An additional, mainly focus-like, 500 nm deformation is measured at 160K; we were able to recover the best flat in cryo by correcting the focus and local tip-tilts on some segments. Tests on DM with different mirror thicknesses (25{\mu}m and 50{\mu}m) and different coatings (silver and gold) are currently under way.Comment: 11 pages, 12 Figure

Operation of a MOEMS Deformable Mirror in Cryo: Challenges and Results

Micro-opto-electro-mechanical systems (MOEMS) Deformable Mirrors (DM) are key components for next generation optical instruments implementing innovative adaptive optics systems, both in existing telescopes and in the future ELTs. Characterizing these components well is critical for next generation instruments. This is done by interferometry, including surface quality measurement in static and dynamical modes, at ambient and in vacuum/cryo. We use a compact cryo-vacuum chamber designed for reaching 10–6 mbar and 160 K in front of our custom Michelson interferometer, which is able to measure performance of the DM at actuator/segment level and at the entire mirror level, with a lateral resolution of 2 µm and a sub-nanometer z-resolution. We tested the PTT 111 DM from Iris AO: an array of single crystalline silicon hexagonal mirrors with a pitch of 606 µm, able to move in tip, tilt, and piston (stroke 5–7 µm, tilt ±5 mrad). The device could be operated successfully from ambient to 160 K. An additional, mainly focus-like, 500 nm deformation of the entire mirror is measured at 160 K; we were able to recover the best flat in cryo by correcting the focus and local tip-tilts on all segments, reaching 12 nm rms. Finally, the goal of these studies is to test DMs in cryo and vacuum conditions as well as to improve their architecture for stable operation in harsh environments

A Gold Star Approach: Using Gold Nanostars as a Drug Delivery Vehicle for Cancer Treatment

How can gold nanostars serve as effective delivery vehicles for targeted cancer therapies? Dr. Teri Odom and her research group at Northwestern University are developing biocompatible gold nanoconstructs consisting of gold nanostars (AuNS) loaded with an anticancer drug (DNA aptamer AS1411) to selectively target cancer cells. AuNS can be synthesized using a seedless, scalable method that allows for controlled tunability of nanostar size, shape, and optical properties. AS1411 binds specifically and with high affinity to nucleolin (NCL), a receptor that is highly expressed in cancer cells. The Odom group has improved the stability of AS1411 in physiological conditions by grafting the aptamer onto the surface of AuNS by taking advantage of the easy functionalization of the gold surface. The gold nanoconstructs deliver a high, local concentration of AS1411 to cancer cells, resulting in cell death