Using Redundant and Disjoint Time-Variant Soft Robotic Sensors for Accurate Static State Estimation

Soft robotic sensors have been limited in their applications due to their highly nonlinear time variant behavior. Current studies are either looking into techniques to improve the mechano-electrical properties of these sensors or into modelling algorithms that account for the history of each sensor. Here, we present a method for combining multi-material soft strain sensors to obtain equivalent higher quality sensors; better than each of the individual strain sensors. The core idea behind this work is to use a combination of redundant and disjoint strain sensors to compensate for the time-variant hidden states of a soft-bodied system, to finally obtain the true strain state in a static manner using a learning-based approach. We provide methods to develop these variable sensors and metrics to estimate their dissimilarity and efficacy of each sensor combinations, which can double down as a benchmarking tool for soft robotic sensors. The proposed approach is experimentally validated on a pneumatic actuator with embedded soft strain sensors. Our results show that static data from a combination of nonlinear time variant strain sensors is sufficient to accurately estimate the strain state of a system.Future and Emerging Technologies (FET) programme of the European Commission (grant agreement ID 828818

Evolution, turnovers and spatial variation of the gastropod fauna of the late Miocene biodiversity hotspot Lake Pannon

AbstractLake Pannon constituted the biggest hotspot of biodiversity in the late Cenozoic of Europe, comprising a total diversity of almost 600 gastropod species. The gastropod fauna of this huge brackish system, which existed over about seven million years from the late Miocene to earliest Pliocene within the Pannonian Basin System, has been well documented by a great many of taxonomic works. In contrast, the faunal development within the lake has not been properly addressed from a statistical point of view. The present investigation demonstrates that species were not homogeneously distributed across space and time, generating uneven and temporally shifting patterns of species richness and degree of point endemism across the lake. The faunal compositions of the time intervals analyzed were highly different, contrasting simple species accumulation as suggested by the overall numbers. Shifting patterns of local diversity within the lake reflect changing paleo-shorelines, resulting from prograding river systems entering and successively diminishing the lake surface area. As mainly herbivorous grazers and predominantly shallow-water inhabitants, the gastropods traced the moving shelf margins and vegetation belts accordingly, producing the observed diversity shifts. In addition, each time interval is characterized by a high degree of provincialism, which is considered to reflect high habitat diversity. This claim is supported by the complex subaqueous topography and the presence of extensive delta plains produced by the incoming river systems. A potential driver for provincialism might be the adaptation of species to distinct water depths (and related parameters). Finally, the notable differences among the faunal compositions of the upper Pannonian strata and the succeeding lower Viviparus beds, especially regarding family-level, indicate an environmental turnover at the transition. Brackish-water species are mostly replaced by typical freshwater elements, indicating strong fluvial influence. Based on our results and latest stratigraphic data, we conclude that the Viviparus beds were deposited in a different environment, replacing Lake Pannon in the southern Pannonian Basin in the early Pliocene

Sensorized Skin With Biomimetic Tactility Features Based on Artificial Cross-Talk of Bimodal Resistive Sensory Inputs

Tactility in biological organisms is a faculty that relies on a variety of specialized receptors. The bimodal sensorized skin, featured in this study, combines soft resistive composites that attribute the skin with mechano- and thermoreceptive capabilities. Mimicking the position of the different natural receptors in different depths of the skin layers, a multi-layer arrangement of the soft resistive composites is achieved. However, the magnitude of the signal response and the localization ability of the stimulus change with lighter presses of the bimodal skin. Hence, a learning-based approach is employed that can help achieve predictions about the stimulus using 4500 probes. Similar to the cognitive functions in the human brain, the cross-talk of sensory information between the two types of sensory information allows the learning architecture to make more accurate predictions of localization, depth, and temperature of the stimulus contiguously. Localization accuracies of 1.8 mm, depth errors of 0.22 mm, and temperature errors of 8.2 °C using 8 mechanoreceptive and 8 thermoreceptive sensing elements are achieved for the smaller inter-element distances. Combining the bimodal sensing multilayer skins with the neural network learning approach brings the artificial tactile interface one step closer to imitating the sensory capabilities of biological skin

Magnetically ordered and kagome quantum spin liquid states in the Zn-doped claringbullite series

Neutron scattering measurements have been performed on deuterated powder samples of claringbullite and Zn-doped claringbullite (Zn$_x$Cu$_{4-x}$(OD)$_{6}$FCl). At low temperatures, claringbullite Cu$_4$(OD)$_{6}$FCl forms a distorted pyrochlore lattice with long-range magnetic order and spin-wave-like magnetic excitations. Partial Zn doping leads to the nominal ZnCu$_3$(OD)$_{6}$FCl compound, a geometrically frustrated spin-1/2 kagome antiferromagnet that shows no transition to magnetic order down to 1.5 K. The magnetic excitations form a gapless continuum, a signature of fractional excitations in a quantum spin liquid.Comment: 8 pages, 5 figures, Supplemental Materia

Differential effect of Pistacia vera extracts on experimental atherosclerosis in the rabbit animal model: an experimental study

<p>Abstract</p> <p>Background</p> <p>Lipid-enriched diets and oxidative stress are risk factors for the development of atherosclerosis. The effects of the methanolic (ME) and cyclohexane (CHE) extracts of the <it>Pistacia vera </it>nut, often included in the Mediterranean diet, were studied in the rabbit model of atherosclerosis.</p> <p>Methods and results</p> <p>Twenty-four New Zealand White rabbits received atherogenic diet (Control Group), supplemented with ME (Group ME) or CHE (Group CHE) for 3 months. Previously, a GC-MS and a UHPLC LC-DAD-ESI(-)-HRMS/MS method were developed to investigate the extracts' chemical profiles. Blood samples at baseline and monthly determined lipid profile, lipid peroxidation and liver function. The aorta, myocardium and liver were examined histologically at 3 months.</p> <p>Groups ME and CHE had significantly higher HDL- and non-significantly lower LDL-cholesterol median % changes from baseline than the Control Group. Triacylglycerol was significantly higher in Group CHE vs. Control. MDA values were significantly lower in Group ME vs. Control and CHE. ALT and AST were significantly higher in Group CHE vs. Control. γ-GT was lower in Group ME vs. Control. Aortic intimal thickness was significantly less in Groups ME and CHE vs. Control; Group ME atherosclerotic lesions were significantly less extensive vs. Groups Control and CHE. Only Group CHE had significant liver fatty infiltration.</p> <p>Conclusions</p> <p>During short-term administration concomitantly with atherogenic diet, both <it>P. vera </it>extracts were beneficial on HDL-, LDL-cholesterol and aortic intimal thickness. The ME additionally presented an antioxidant effect and significant decrease of aortic surface lesions. These results indicate that <it>P. vera </it>dietary inclusion, in particular its ME, is potentially beneficial in atherosclerosis management.</p