Collision-Aware Fast Simulation for Soft Robots by Optimization-Based Geometric Computing

Soft robots can safely interact with environments because of their mechanical compliance. Self-collision is also employed in the modern design of soft robots to enhance their performance during different tasks. However, developing an efficient and reliable simulator that can handle the collision response well, is still a challenging task in the research of soft robotics. This paper presents a collision-aware simulator based on geometric optimization, in which we develop a highly efficient and realistic collision checking / response model incorporating a hyperelastic material property. Both actuated deformation and collision response for soft robots are formulated as geometry-based objectives. The collision-free body of a soft robot can be obtained by minimizing the geometry-based objective function. Unlike the FEA-based physical simulation, the proposed pipeline performs a much lower computational cost. Moreover, adaptive remeshing is applied to achieve the improvement of the convergence when dealing with soft robots that have large volume variations. Experimental tests are conducted on different soft robots to verify the performance of our approach

Drivers of Change for Grassland and Forage Systems: A Case Study of China

Grassland and forage systems have changed dramatically across the world. This paper describes some of the key drivers of change of grassland and forage systems using examples from China as a case study. The key drivers of change for grassland and forage systems include political, economic, social, technical and environmental factors and their impact on changes in grasslands ecosystems in China is discussed. There are interactions among the drivers and their impact is similar in many developing countries

Efficient Jacobian-Based Inverse Kinematics With Sim-to-Real Transfer of Soft Robots by Learning

This paper presents an efficient learning-based method to solve the inverse kinematic (IK) problem on soft robots with highly non-linear deformation. The major challenge of efficiently computing IK for such robots is due to the lack of analytical formulation for either forward or inverse kinematics. To address this challenge, we employ neural networks to learn both the mapping function of forward kinematics and also the Jacobian of this function. As a result, Jacobian-based iteration can be applied to solve the IK problem. A sim-to-real training transfer strategy is conducted to make this approach more practical. We first generate a large number of samples in a simulation environment for learning both the kinematic and the Jacobian networks of a soft robot design. Thereafter, a sim-to-real layer of differentiable neurons is employed to map the results of simulation to the physical hardware, where this sim-to-real layer can be learned from a very limited number of training samples generated on the hardware. The effectiveness of our approach has been verified on pneumatic-driven soft robots for path following and interactive positioning

OpenPneu: Compact platform for pneumatic actuation with multi-channels

This paper presents a compact system, OpenPneu, to support the pneumatic actuation for multi-chambers on soft robots. Micro-pumps are employed in the system to generate airflow and therefore no extra input as compressed air is needed. Our system conducts modular design to provide good scalability, which has been demonstrated on a prototype with ten air channels. Each air channel of OpenPneu is equipped with both the inflation and the deflation functions to provide a full range pressure supply from positive to negative with a maximal flow rate at 1.7 L/min. High precision closed-loop control of pressures has been built into our system to achieve stable and efficient dynamic performance in actuation. An open-source control interface and API in Python are provided. We also demonstrate the functionality of OpenPneu on three soft robotic systems with up to 10 chambers

Modeling and Experimental Verification of an Electromagnetic and Piezoelectric Hybrid Energy Harvester

This paper describes mathematical models of an electromagnetic and piezoelectric hybrid energy harvesting system and provides an analysis of the relationship between the resonance frequency and the configuration parameters of the system. An electromagnetic and piezoelectric energy harvesting device was designed and the experimental results showed good agreement with the analytical results. The maximum load power of the hybrid energy harvesting system achieved 4.25 mW at a resonant frequency of 18 Hz when the acceleration was 0.7 g, which is an increase of 15% compared with the 3.62 mW achieved by a single electromagnetic technique

Genipin-cross-linked collagen/chitosan biomimetic scaffolds for articular cartilage tissue engineering applications

This was the first study to use genipin to cross-link collagen and chitosan.In this study, genipin-cross-linked collagen/chitosan biodegradable porous scaffolds were prepared for articular cartilage regeneration. The influence of chitosan amount and genipin concentration on the scaffolds physicochemical properties was evaluated. The morphologies of the scaffolds were characterized by scanning electron microscope (SEM) and cross-linking degree was investigated by ninhydrin assay. Additionally, the mechanical properties of the scaffolds were assessed under dynamic compression. To study the swelling ratio and the biostability of the collagen/chitosan scaffold, in vitro tests were also carried out by immersion of the scaffolds in PBS solution or digestion in collagenase, respectively. The results showed that the morphologies of the scaffolds underwent a fiber-like to a sheet-like structural transition by increasing chitosan amount. Genipin cross-linking remarkably changed the morphologies and pore sizes of the scaffolds when chitosan amount was less than 25%. Either by increasing the chitosan ratio or performing cross-linking treatment, the swelling ratio of the scaffolds can be tailored. The ninhydrin assay demonstrated that the addition of chitosan could obviously increase the cross-linking efficiency. The degradation studies indicated that genipin cross-linking can effectively enhance the biostability of the scaffolds. The biocompatibility of the scaffolds was evaluated by culturing rabbit chondrocytes in vitro. This study demonstrated that a good viability of the chondrocytes seeded on the scaffold was achieved. The SEM analysis has revealed that the chondrocytes adhered well to the surface of the scaffolds and contacted each other. These results suggest that the genipin-cross-linked collagen/chitosan matrix may be a promising formulation for articular cartilage scaffolding.Key Projects in the National Science and Technology Pillar Program in the Eleventh Five-year Plan Period. Grant Number: 2006BA116B04Guangdong Natural Science Foundation. Grant Number: 07300602Natural Science Foundation Team Project of Guangdong. Grant Number: 4205786State Key Program of National Natural Science of China. Grant Number: 50732003National Basic Research Program of China. Grant Number: 2005CB62390

Routine Multiplex Mutational Profiling of Melanomas Enables Enrollment in Genotype-Driven Therapeutic Trials

Purpose: Knowledge of tumor mutation status is becoming increasingly important for the treatment of cancer, as mutation-specific inhibitors are being developed for clinical use that target only sub-populations of patients with particular tumor genotypes. Melanoma provides a recent example of this paradigm. We report here development, validation, and implementation of an assay designed to simultaneously detect 43 common somatic point mutations in 6 genes (BRAF, NRAS, KIT, GNAQ, GNA11, and CTNNB1) potentially relevant to existing and emerging targeted therapies specifically in melanoma. Methods: The test utilizes the SNaPshot method (multiplex PCR, multiplex primer extension, and capillary electrophoresis) and can be performed rapidly with high sensitivity (requiring 5–10% mutant allele frequency) and minimal amounts of DNA (10–20 nanograms). The assay was validated using cell lines, fresh-frozen tissue, and formalin-fixed paraffin embedded tissue. Clinical characteristics and the impact on clinical trial enrollment were then assessed for the first 150 melanoma patients whose tumors were genotyped in the Vanderbilt molecular diagnostics lab. Results: Directing this test to a single disease, 90 of 150 (60%) melanomas from sites throughout the body harbored a mutation tested, including 57, 23, 6, 3, and 2 mutations in BRAF, NRAS, GNAQ, KIT, and CTNNB1, respectively. Among BRAF V600 mutations, 79%, 12%, 5%, and 4% were V600E, V600K, V600R, and V600M, respectively. 23 of 54 (43%) patients with mutation harboring metastatic disease were subsequently enrolled in genotype-driven trials. Conclusion: We present development of a simple mutational profiling screen for clinically relevant mutations in melanoma. Adoption of this genetically-informed approach to the treatment of melanoma has already had an impact on clinical trial enrollment and prioritization of therapy for patients with the disease

Simulating liquid-vapor phase separation under shear with lattice Boltzmann method

We study liquid-vapor phase separation under shear via the Shan-Chen lattice Boltzmann model. Besides the rheological characteristics, we analyze the Kelvin-Helmholtz(K-H) instability resulting from the tangential velocity difference of the fluids on two sides of the interface. We discuss also the growth behavior of droplets. The domains being close to the walls are lamellar-ordered, where the hydrodynamic effects dominate. The patterns in the bulk of the system are nearly isotropic, where the domain growth results mainly from the diffusion mechanism. Both the interfacial tension and the K-H instability make the liquid-bands near the walls tend to rupture. When the shear rate increases, the inequivalence of evaporation in the upstream and coagulation in the downstream of the flow as well as the role of surface tension makes the droplets elongate obliquely. Stronger convection makes easier the transferring of material particles so that droplets become larger.Comment: Science in China (Series G) (in press

Clinical Manifestations Associated with Neurocysticercosis: A Systematic Review

Neurocysticercosis is an infection of the brain with the flatworm Taenia solium which is normally transmitted between humans and pigs. Sometimes, humans can infect other humans and the larva of the parasite can go the brain, causing the disease neurocysticercosis. There has never been a systematic review of what clinical signs are found among people with neurocysticercosis. We conducted a thorough review of the literature to answer this question. We reviewed 1569 and 21 were of a sufficient quality to be included in the final analysis. Among neurocysticercosis patients who are seeking care in neurology clinics, about 79% have seizures/epilepsy, 38% severe headaches, 16% focal deficits and 12% signs of increased intracranial pressure. Several other symptoms were also reported in less than 10% of patients. People with neurocysticercosis who seek care in neurology clinics show a whole range of manifestations. Clinicians should be encouraged to consider neurocysticercosis in their differential diagnosis when a patient presented with one of the symptoms described in this review. This would ultimately improve the estimates of the frequency of symptoms associated with neurocysticercosis