Innovative robot hand designs of reduced complexity for dexterous manipulation

This thesis investigates the mechanical design of robot hands to sensibly reduce the system complexity in terms of the number of actuators and sensors, and control needs for performing grasping and in-hand manipulations of unknown objects. Human hands are known to be the most complex, versatile, dexterous manipulators in nature, from being able to operate sophisticated surgery to carry out a wide variety of daily activity tasks (e.g. preparing food, changing cloths, playing instruments, to name some). However, the understanding of why human hands can perform such fascinating tasks still eludes complete comprehension. Since at least the end of the sixteenth century, scientists and engineers have tried to match the sensory and motor functions of the human hand. As a result, many contemporary humanoid and anthropomorphic robot hands have been developed to closely replicate the appearance and dexterity of human hands, in many cases using sophisticated designs that integrate multiple sensors and actuators---which make them prone to error and difficult to operate and control, particularly under uncertainty. In recent years, several simplification approaches and solutions have been proposed to develop more effective and reliable dexterous robot hands. These techniques, which have been based on using underactuated mechanical designs, kinematic synergies, or compliant materials, to name some, have opened up new ways to integrate hardware enhancements to facilitate grasping and dexterous manipulation control and improve reliability and robustness. Following this line of thought, this thesis studies four robot hand hardware aspects for enhancing grasping and manipulation, with a particular focus on dexterous in-hand manipulation. Namely: i) the use of passive soft fingertips; ii) the use of rigid and soft active surfaces in robot fingers; iii) the use of robot hand topologies to create particular in-hand manipulation trajectories; and iv) the decoupling of grasping and in-hand manipulation by introducing a reconfigurable palm. In summary, the findings from this thesis provide important notions for understanding the significance of mechanical and hardware elements in the performance and control of human manipulation. These findings show great potential in developing robust, easily programmable, and economically viable robot hands capable of performing dexterous manipulations under uncertainty, while exhibiting a valuable subset of functions of the human hand.Open Acces

Consumer Purchase Intentions for Sustainable Wild Salmon in the Chinese Market and Implications for Agribusiness Decisions

Sustainable food consumption and production play an increasingly important role in improving food security and quality in the food system worldwide. Consumers’ food consumption patterns in China, a rapidly emerging economy with the largest population and one of the largest consumer markets in the world, significantly influence the structure of global trade flows and the sustainable ecosystem and environment. In this paper, we assess the emerging demand for imported wild and sustainable Alaskan salmon fillet and varietal parts in China’s market through consumers’ stated purchase intentions for the products. We use an ordered logit model to link consumers’ purchase intentions with potential influencing factors and identify important factors, including consumers’ consumption habits, perceptions, and social demographic characteristics. Due to differences between western and Chinese consumers on how different parts of fish are consumed, seemingly low-value salmon heads and bones may carry significant value if being imported and sold to Chinese consumers. We believe that our study is an important step in helping to build a sustainable business model, thereby creating a win-win situation for both the importing and exporting countries in order to allocate resources efficiently, feed people with healthy food, avoid food waste, and fulfill the economic value of products

Comparison of Protective Effects of Electroacupuncture at ST 36 and LU 5 on Pulmonary and Hypothalamic Pituitary Adrenal Axis Changes in Perinatal Nicotine-Exposed Rats

BackgroundMaternal smoking and/or exposure to environmental tobacco smoke continue to be significant factors in fetal and childhood morbidity and are a serious public health issue worldwide. Nicotine passes through the placenta easily with minimal biotransformation, entering fetal circulation, where it results in many harmful effects on the developing offspring, especially on the developing respiratory system.ObjectivesRecently, in a rat model, electroacupuncture (EA) at maternal acupoints ST 36 has been shown to block perinatal nicotine-induced pulmonary damage; however, the underlying mechanism and the specificity of ST 36 acupoints for this effect are unknown. Here, we tested the hypothesis that compared with EA at ST 36, EA at LU 5 acupoints, which are on lung-specific meridian, will be equally or more effective in preventing perinatal nicotine-induced pulmonary changes.MethodsTwenty-four pregnant rat dams were randomly divided into 4 groups: saline ("S"), nicotine ("N"), nicotine + ST 36 (N + ST 36), and nicotine + LU 5 (N + LU 5) groups. Nicotine (1 mg/kg, subcutaneously) and EA (at ST 36 or LU 5 acupoints, bilaterally) were administered from embryonic day 6 to postnatal day 21 once daily. The "S" group was injected saline. As needed, using ELISA, western analysis, q-RT-PCR, lung histopathology, maternal and offspring hypothalamic pituitary adrenal axes, offspring key lung developmental markers, and lung morphometry were determined.ResultsWith nicotine exposure, alveolar count decreased, but mean linear intercept and septal thickness increased. It also led to a decrease in pulmonary function and PPARγ and an increase of β-catenin and glucocorticoid receptor expression in lung tissue and corticosterone in the serum of offspring rats. Electroacupuncture at ST 36 normalized all of these changes, whereas EA at LU 5 had no obvious effect.ConclusionElectroacupuncture applied to ST 36 acupoints provided effective protection against perinatal nicotine-induced lung changes, whereas EA applied at LU 5 acupoints was ineffective, suggesting mechanistic specificity and HPA axis' involvement in mediating EA at ST 36 acupoints' effects in mitigating perinatal nicotine-induced pulmonary phenotype. This opens the possibility that other acupoints, besides ST 36, can have similar or even more robust beneficial effects on the developing lung against the harmful effect of perinatal nicotine exposure. The approach proposed by us is simple, cheap, quick, easy to administer, and is devoid of any significant side effects

Comparison of Protective Effects of Electroacupuncture at ST 36 and LU 5 on Pulmonary and Hypothalamic Pituitary Adrenal Axis Changes in Perinatal Nicotine-Exposed Rats

Background. Maternal smoking and/or exposure to environmental tobacco smoke continue to be significant factors in fetal and childhood morbidity and are a serious public health issue worldwide. Nicotine passes through the placenta easily with minimal biotransformation, entering fetal circulation, where it results in many harmful effects on the developing offspring, especially on the developing respiratory system. Objectives. Recently, in a rat model, electroacupuncture (EA) at maternal acupoints ST 36 has been shown to block perinatal nicotine-induced pulmonary damage; however, the underlying mechanism and the specificity of ST 36 acupoints for this effect are unknown. Here, we tested the hypothesis that compared with EA at ST 36, EA at LU 5 acupoints, which are on lung-specific meridian, will be equally or more effective in preventing perinatal nicotine-induced pulmonary changes. Methods. Twenty-four pregnant rat dams were randomly divided into 4 groups: saline (“S”), nicotine (“N”), nicotine + ST 36 (N + ST 36), and nicotine + LU 5 (N + LU 5) groups. Nicotine (1 mg/kg, subcutaneously) and EA (at ST 36 or LU 5 acupoints, bilaterally) were administered from embryonic day 6 to postnatal day 21 once daily. The “S” group was injected saline. As needed, using ELISA, western analysis, q-RT-PCR, lung histopathology, maternal and offspring hypothalamic pituitary adrenal axes, offspring key lung developmental markers, and lung morphometry were determined. Results. With nicotine exposure, alveolar count decreased, but mean linear intercept and septal thickness increased. It also led to a decrease in pulmonary function and PPARγ and an increase of β-catenin and glucocorticoid receptor expression in lung tissue and corticosterone in the serum of offspring rats. Electroacupuncture at ST 36 normalized all of these changes, whereas EA at LU 5 had no obvious effect. Conclusion. Electroacupuncture applied to ST 36 acupoints provided effective protection against perinatal nicotine-induced lung changes, whereas EA applied at LU 5 acupoints was ineffective, suggesting mechanistic specificity and HPA axis’ involvement in mediating EA at ST 36 acupoints’ effects in mitigating perinatal nicotine-induced pulmonary phenotype. This opens the possibility that other acupoints, besides ST 36, can have similar or even more robust beneficial effects on the developing lung against the harmful effect of perinatal nicotine exposure. The approach proposed by us is simple, cheap, quick, easy to administer, and is devoid of any significant side effects

Developmental Timing Determines the Protective Effect of Maternal Electroacupuncture on Perinatal Nicotine Exposure-Induced Offspring Lung Phenotype

Introduction. Environmental exposure of the developing offspring to cigarette smoke or nicotine is an important predisposing factor for many chronic respiratory conditions, such as asthma, emphysema, pulmonary fibrosis, and so forth, in the exposed offspring. Studies showed that electroacupuncture (EA) applied to maternal “Zusanli” (ST36) acupoints during pregnancy and lactation protects against perinatal nicotine exposure- (PNE-) induced lung damage. However, the most effective time period, that is, prenatal vs. postnatal, to attain this effect has not been determined. Objective. To determine the most effective developmental timing of EA’s protective effect against PNE-induced lung phenotype in the exposed offspring. Methods. Pregnant rats were given (1) saline (“S” group); (2) nicotine (“N” group); (3) nicotine + EA, exclusively prenatally (“Pre-EA” group); (4) nicotine + EA, exclusively postnatally (“Post-EA,” group); and (5) nicotine + EA, administered both prenatally and postnatally (“Pre- and Post-EA” group). Nicotine was injected once daily (1 mg/kg, 100 μl) and EA was administered to bilateral ST36 acupoints once daily during the specified time-periods. At the end of the experimental periods, key hypothalamic pituitary adrenal (HPA) axis markers in pups and dams, and lung function, morphometry, and the central molecular markers of lung development in the offspring were determined. Results. After nicotine exposure, alveolar mean linear intercept (MLI) increased, but mean alveolar number (MAN) decreased and lung PPARγ level decreased, but glucocorticoid receptor (GR) and serum corticosterone (Cort) levels increased, in line with the known PNE-induced lung phenotype. In the nicotine exposed group, maternal hypothalamic corticotropin releasing hormone (CRH) level decreased, but pituitary adrenocorticotropic hormone (ACTH) and serum Cort levels increased. In the “Pre- and Post-EA” groups, PNE-induced alterations in lung morphometry, lung development markers, and HPA axis were blocked. In the “Pre-EA” group, PNE-induced changes in lung morphometry, GR, and maternal HPA axis improved; lung PPARγ and serum Cort levels were slightly but not significantly improved. In contrast, the exclusive “Post-EA” group showed none of these benefits. Conclusions. Maternal EA applied to ST36 acupoints during both pre- and postnatal periods preserves offspring lung structure and function despite perinatal exposure to nicotine. EA applied during the “prenatal period” affords only limited benefits, whereas EA applied during the “postnatal period” is ineffective, suggesting that the EA’s effects in modulating PNE-induced lung phenotype are limited to specific time-periods during lung development

Characterization of Transgenic Silkworm Yielded Biomaterials with Calcium-Binding Activity

<div><p>Silk fibers have many inherent properties that are suitable for their use in biomaterials. In this study, the silk fibroin was genetically modified by including a Ca-binding sequence, [(AGSGAG)₆ASEYDYDDDSDDDDEWD]₂ from shell nacreous matrix protein. It can be produced as fibers by transgenic silkworm. The Ca-binding activity and mineralization of the transgenic silk fibroin were examined in vitro. The results showed that this transgenic silk fibroin had relatively higher Ca-binding activity than unmodified silk fibroin. The increased Ca-binding activity could promote the usage of silk fibroin as a biomaterial in the pharmaceutical industry. This study shows the possibility of using silk fibroin as a mineralization accelerating medical material by generating genetically modified transgenic silkworm.</p></div

The detection of the mechanical properties of composite silk fibers.

<p>(A) The measurement of the load (N) of the transgenic silk. (B) The measurement of the relative tensile modulus.</p

Quantitative Proteomic and Transcriptomic Analyses of Molecular Mechanisms Associated with Low Silk Production in Silkworm <i>Bombyx mori</i>

To investigate the molecular mechanisms underlying the low fibroin production of the ZB silkworm strain, we used both SDS-PAGE-based and gel-free-based proteomic techniques and transcriptomic sequencing technique. Combining the data from two different proteomic techniques was preferable in the characterization of the differences between the ZB silkworm strain and the original Lan10 silkworm strain. The correlation analysis showed that the individual protein and transcript were not corresponded well, however, the differentially changed proteins and transcripts showed similar regulated direction in function at the pathway level. In the ZB strain, numerous ribosomal proteins and transcripts were down-regulated, along with the transcripts of translational related elongation factors and genes of important components of fibroin. The proteasome pathway was significantly enhanced in the ZB strain, indicating that protein degradation began on the third day of fifth instar when fibroin would have been produced in the Lan10 strain normally and plentifully. From proteome and transcriptome levels of the ZB strain, the energy-metabolism-related pathways, oxidative phosphorylation, glycolysis/gluconeogenesis, and citrate cycle were enhanced, suggesting that the energy metabolism was vigorous in the ZB strain, while the silk production was low. This may due to the inefficient energy employment in fibroin synthesis in the ZB strain. These results suggest that the reason for the decreasing of the silk production might be related to the decreased ability of fibroin synthesis, the degradation of proteins, and the inefficiency of the energy exploiting

The calcium binding protein sequence and transgenic experiment vector.

<p>One copy of the sequence [(AGSGAG)₆ASEYDYDDDSDDDDEWD]₂ (A). (AGSGAG)_n is the silk fibroin repetitive domain from <i>B</i>. <i>mori</i>. The calcium-binding protein sequence from the shell nacreous matrix protein MSI60 is marked by a black line. The vector used for the transgenic experiment (B). ITR, inverted terminal repeats of PB transposon; FL, fibroin light chain; FLSP, signal peptide of fibroin light chain; CABP, calcium-binding protein; A3, <i>Bombyx mori</i> A3 cytoplasmic actin gene; EGFP, enhanced green fluorescence protein; SV40, 3’-untranslated sequences.</p