Force-Guided High-Precision Grasping Control of Fragile and Deformable Objects Using sEMG-Based Force Prediction

Regulating contact forces with high precision is crucial for grasping and manipulating fragile or deformable objects. We aim to utilize the dexterity of human hands to regulate the contact forces for robotic hands and exploit human sensory-motor synergies in a wearable and non-invasive way. We extracted force information from the electric activities of skeletal muscles during their voluntary contractions through surface electromyography (sEMG). We built a regression model based on a Neural Network to predict the gripping force from the preprocessed sEMG signals and achieved high accuracy (R2 = 0.982). Based on the force command predicted from human muscles, we developed a force-guided control framework, where force control was realized via an admittance controller that tracked the predicted gripping force reference to grasp delicate and deformable objects. We demonstrated the effectiveness of the proposed method on a set of representative fragile and deformable objects from daily life, all of which were successfully grasped without any damage or deformation.Comment: 8 pages, 11 figures, to be published on IEEE Robotics and Automation Letters. For the attached video, see https://youtu.be/0AotKaWFJD

Elements content in tree rings from Xi'an, China and environmental variations in the past 30 years

Using inductively coupled plasma mass spectrometry (ICP-MS) and inductively coupled plasma atomic emission spectroscopy (ICP-AES), the characteristics of chemical elements were analyzed in white poplar (Populus bonatii Levl.) and ailanthus (Ailanthus altissima (Mill.) Swingle) from three sites in the town of Xi'an, China. The results indicated that the concentration variations of Pb and Cd in tree rings were consistent with that of the environment where the trees were growing. P and Zn were translocated within tree rings to a certain degree, which led to an inaccurate pollution reconstruction. We also found that white poplar had a stronger absorptive capacity of Cd and Zn than ailanthus, which could make white poplar better as a species in environmental remediation. From this research we can see the great potential of tree rings for studying the history of different element pollution in the environment, showing that dendrochemical methods could be used as a powerful component in environmental monitoring programmes, to reconstruct past pollution history at the time when monitoring systems were not yet installed. (c) 2017 Elsevier B.V. All rights reserved

Regional multi-compartment ecological risk assessment:establishing cadmium pollution risk in the northern Bohai Rim, China

Ecological risk assessment (ERA) has been widely applied in characterizing the risk of chemicals to organisms and ecosystems. The paucity of toxicity data on local biota living in the different compartments of an ecosystem and the absence of a suitable methodology for multi-compartment spatial risk assessment at the regional scale has held back this field. The major objective of this study was to develop a methodology to quantify and distinguish the spatial distribution of risk to ecosystems at a regional scale. A framework for regional multi-compartment probabilistic ecological risk assessment (RMPERA) was constructed and corroborated using a bioassay of a local species. The risks from cadmium (Cd) pollution in river water, river sediment, coastal water, coastal surface sediment and soil in northern Bohai Rim were examined. The results indicated that the local organisms in soil, river, coastal water, and coastal sediment were affected by Cd. The greatest impacts from Cd were identified in the Tianjin and Huludao areas. The overall multi-compartment risk was 31.4% in the region. The methodology provides a new approach for regional multi-compartment ecological risk assessment

Tree-ring-based precipitation reconstruction in the source region of Weihe River, northwest China since AD 1810

A tree-ring width chronology of Picea purpurea Mast from Mt. Shouyang in the source region of Weihe River (SWR), northwest China, was developed in this study. Correlation analysis showed that the precipitation from previous August to current July was the limiting climate factor of tree growth. Using a reliable and stable linear regression model, which explained 42.6% of the variance of the actual precipitation during the calibration period from 1958 to 2014, a 205-year long precipitation series was reconstructed for the SWR. The dry years in the reconstruction were well supported by historical documents, and famous historical droughts were also recorded in the dry periods of a low-frequency scale of the reconstructed precipitation. As demonstrated by the spatial correlation patterns, the reconstructed series compared well with other hydroclimate records for northwest China, indicating that it could represent large-scale hydroclimate changes. The 2-8-year interannual cycles and the interdecadal quasiperiods of 15.9 years and 18.6 years revealed that the precipitation in this region was probably affected by the El Nino-Southern Oscillation and North Atlantic Oscillation. The dry/wet years corresponded well with the El Nino/La Nina events and the SWR commonly experienced droughts during the low periods of North Atlantic Oscillation

Ecosystem health towards sustainability

Ecosystems are becoming damaged or degraded as a result of stresses especially associated with human activities. A healthy ecosystem is essential to provide the services that humans and the natural environment require and has tremendous social and economic value. Exploration of the definition of ecosystem health includes what constitutes health and what it means to be healthy. To evaluate ecosystem health, it is necessary to quantify ecosystem conditions using a variety of indicators. In this paper, the main principles and criteria for indicator selection, classification of indicators for different kinds of ecosystems, the most appropriate indicators for measuring ecosystem sustainability, and various methods and models for the assessment of ecosystem health are presented. Drivers, sustainability, and resilience are considered to be critical factors for ecosystem health and its assessment. Effective integration of ecological understanding with socioeconomic, biophysical, biogeochemical, and public-policy dimensions is still the primary challenge in this field, and devising workable strategies to achieve and maintain ecosystem health is a key future challenge

Segregació de l’estudiantat en els graus d’enginyeria

L’estudiantat dels graus d’enginyeria és majoritàriament blanc i masculí, mentre que altres grups com les dones o els estudiants de diferents ètnies i orígens continuen estant infrarepresentats. Aquestes desigualtats sovint comporten diferències en l’experiència acadèmica de l’alumnat i poden ocasionar situacions preocupants com la segregació o l’exclusió dels i les alumnes que no pertanyen al grup predominant. A partir d’una mostra de 602 estudiants matriculats en graus d’enginyeria de la Universitat Politècnica de Catalunya · BarcelonaTech (UPC), aquest estudi analitza com es desenvolupen les interaccions entre l’estudiantat. Els resultats indiquen que l’alumnat natiu és menys propens a tenir interaccions amb alumnes de diferents orígens i ètnies, especialment en els entorns fora de les classes, com les activitats extracurriculars, les zones d’oci com la cafeteria, el bar o el menjador i els treballs en grup. Cal que les institucions d’enginyeria actuïn per incentivar les relacions entre l’alumnat i poder fer front a aquestes situacions de segregació que impedeixen que tot l’estudiantat pugui aprendre en un entorn inclusiu i amb igualtat d’oportunitats.The engineering undergraduate student body is predominantly white and male, while other groups such as women or students of different ethnicities and backgrounds continue to be underrepresented. These inequalities often lead to differences in the academic experience of the students and can lead to worrying situations such as segregation or the exclusion of students who do not belong to the predominant group. Based on a sample of 602 students enrolled in engineering degrees at the Universitat Politècnica de Catalunya · BarcelonaTech (UPC), this study analyzes how interactions between students develop. The results indicate that native students are less likely to have interactions with students from different backgrounds and ethnicities, especially in non-classroom settings, such as extracurricular activities, leisure areas like the cafeteria, bar or canteen, and group work. Engineering institutions need to act to encourage relationships among students to address these situations of segregation that prevent all students from learning in an inclusive environment with equal opportunities

Impacts of soil and water pollution on food safety and health risks in China

Environmental pollution and food safety are two of the most important issues of our time. Soil and water pollution, in particular, have historically impacted on food safety which represents an important threat to human health. Nowhere has that situation been more complex and challenging than in China, where a combination of pollution and an increasing food safety risk have affected a large part of the population. Water scarcity, pesticide over-application, and chemical pollutants are considered to be the most important factors impacting on food safety in China. Inadequate quantity and quality of surface water resources in China have led to the long-term use of waste-water irrigation to fulfill the water requirements for agricultural production. In some regions this has caused serious agricultural land and food pollution, especially for heavy metals. It is important, therefore, that issues threatening food safety such as combined pesticide residues and heavy metal pollution are addressed to reduce risks to human health. The increasing negative effects on food safety from water and soil pollution have put more people at risk of carcinogenic diseases, potentially contributing to ‘cancer villages’ which appear to correlate strongly with the main food producing areas. Currently in China, food safety policies are not integrated with soil and water pollution management policies. Here, a comprehensive map of both soil and water pollution threats to food safety in China is presented and integrated policies addressing soil and water pollution for achieving food safety are suggested to provide a holistic approach

Choroidal thickness and vascular microstructure parameters in Chinese school-age children with high hyperopia using optical coherence tomography

BackgroundThe current study was to evaluate the choroidal thickness (CT) and vascular microstructure parameters in Chinese children with high hyperopia through enhanced depth imaging optical coherence tomography (EDI-OCT).MethodsCross-sectional study. A total of 23 children with high hyperopia and 29 children with normal refractive status were retrospectively enrolled in the study. The measurement of the macular CT, 7 points: the sub-foveal area point, the temporal and nasal points at a radius of 0.5-mm, 1.5-mm, and 3-mm were measured. After binarization of the OCT images, the total choroidal area (TCA), stromal area (SA) as well as the luminal area (LA) were identified and measured. The choroidal vascularity index (CVI) was defined as the ratio of LA to TCA. The independent t-test for normal distributions and Kruskal-Wallis tests for non-normal distributions were used to compare other parameters between groups. The Tamhane's T2 test was performed to adjust for multiple comparisons between groups within each analysis.ResultsThe subfoveal CT (SFCT) in the high hypermetropic group was significantly thicker than that in normal controls (309.22 ± 53.14 μm vs. 291.27 ± 38.27 μm; P = 0.019). At 0.5 mm, 1.5 mm, and 3.0 mm in diameter, the nasal choroidal sectors of the high hyperopia eyes were significantly thicker than that of the control (P < 0.05). There was significant difference in the choroidal vascular parameters. TCA and LA in the high hyperopia eyes was significantly larger than that of the normal control eyes (3078129.54 ± 448271.18 μm2 vs. 2765218.17 ± 317827.19 μm2, 1926819.54 ± 229817.56 μm2 vs. 1748817.18 ± 191827.98 μm2; P = 0.009, P = 0.011; Table 2). SA values were 1086287.55 ± 212712.11 um2 in the high hyperopia eyes and 999712.71 ± 209838.12 μm2 in the control eyes. The CVI and LA/SA ratio values were differed significantly in the two groups (P = 0.019, P = 0.030, respectively). AL was significantly correlated with SFCT (r = −0.325, P = 0.047), but not significantly correlated with other parameters. Spherical equivalent (SE) was significantly correlated with AL and SFCT (r = −0.711, r = 0.311; P = 0.001, P = 0.016), whereas no significant association between sphere and other parameters.ConclusionThe choroidal structure of the high hyperopia eyes was different from the normal control eyes. The thicker SFCT, higher LA, and TCA were characteristic of high hyperopia eyes. Choroidal blood flow may be decreased in amblyopic eyes. SFCT of high hyperopia children abnormally increased and correlated with shorter AL and higher SE. AL and SE affect choroidal structure and vascular density

Potential landscape of high dimensional nonlinear stochastic dynamics with large noise

Quantifying stochastic processes is essential to understand many natural phenomena, particularly in biology, including the cell-fate decision in developmental processes as well as the genesis and progression of cancers. While various attempts have been made to construct potential landscape in high dimensional systems and to estimate transition rates, they are practically limited to the cases where either noise is small or detailed balance condition holds. A general and practical approach to investigate real-world nonequilibrium systems, which are typically high-dimensional and subject to large multiplicative noise and the breakdown of detailed balance, remains elusive. Here, we formulate a computational framework that can directly compute the relative probabilities between locally stable states of such systems based on a least action method, without the necessity of simulating the steady-state distribution. The method can be applied to systems with arbitrary noise intensities through A-type stochastic integration, which preserves the dynamical structure of the deterministic counterpart dynamics. We demonstrate our approach in a numerically accurate manner through solvable examples. We further apply the method to investigate the role of noise on tumor heterogeneity in a 38-dimensional network model for prostate cancer, and provide a new strategy on controlling cell populations by manipulating noise strength

Nitrate and Nitrite Promote Formation of Tobacco-Specific Nitrosamines via Nitrogen Oxides Intermediates during Postcured Storage under Warm Temperature

Tobacco-specific nitrosamines (TSNAs) are carcinogenic and are present in cured tobacco leaves. This study was designed to elucidate the mechanisms of TSNAs formation under warm temperature storage conditions. Results showed that nitrogen oxides (NOx) were produced from nitrate and nitrite in a short period of time under 45 ∘ C and then reacted with alkaloids to form TSNAs. Nitrite was more effective than nitrate in promoting TSNAs formation during 45 ∘ C storage which may be due to the fact that nitrite can produce a large amount of NOx in comparison with nitrate. Presence of activated carbon effectively inhibited the TSNAs formation because of the adsorption of NOx on the activated carbon. The results indicated that TSNAs are derived from a gas/solid phase nitrosation reaction between NOx and alkaloids. Nitrate and nitrite are major contributors to the formation of TSNAs during warm temperature storage of tobacco