Hemispherical Net-structure Proximity Sensor Detecting Azimuth and Elevation for Guide Dog Robot

Abstract-We have developed a net-structure proximity sensor that detects the azimuth and elevation to a nearby object. This information can be used by robots to avoid obstacles or to respond to human behavior. We propose detection principles where the azimuth is detected by arranging two onedimensional net-structure proximity sensors along orthogonal axes, and the elevation is detected by arranging two onedimensional net-structure proximity sensors in a stacked ring. We also experimentally demonstrate the feasibility of these detection principles. The experimental result shows the sensor can detect azimuth at all peripheral angles and elevation from side to top up

Development of High-Performance Soft Robotic Fish by Numerical Coupling Analysis

To design a soft robotic fish with high performance by a biomimetic method, we are developing a soft robotic fish using piezoelectric fiber composite (PFC) as a flexible actuator. Compared with the conventional rigid robotic fish, the design and control of a soft robotic fish are difficult due to large deformation of flexible structure and complicated coupling dynamics with fluid. That is why the design and control method of soft robotic fish have not been established and they motivate us to make a further study by considering the interaction between flexible structure and surrounding fluid. In this paper, acoustic fluid-structural coupling analysis is applied to consider the fluid effect and predict the dynamic responses of soft robotic fish in the fluid. Basic governing equations of soft robotic fish in the fluid are firstly described. The numerical coupling analysis is then carried out based on different structural parameters of soft robotic fish. Through the numerical analysis, a new soft robotic fish is finally designed, and experimental evaluation is performed. It is confirmed that the larger swimming velocity and better fish-like swimming performance are obtained from the new soft robotic fish. The new soft robotic fish is developed successfully for high performance

Mobile manipulator collision control with hybrid joints in human-robot symbiotic environments

In this paper, a human-symbiotic robot is described to realize human safety, impact force absorbing and task fulfillment. The robot consists of an arm covered with soft materials and hybrid joints, which can be put into active or passive mode as needed. In an unexpected or expected collision with human, the arising impulse force is attenuated effectively by the physical model formed with the hybrid joint and the soft material. Owing to the displacement movement of the link when the joint is passive, a recovery control algorithm has been developed for the end-effector to maintain its desired task position after the collision. Simulation results confirm that the proposed physical model is suitable for robot working in the human-robot symbiotic environment and the control method is useful for robot's task fulfillment.Link_to_subscribed_fulltex

Imaging Multimodalities for Dissecting Alzheimer\u27s Disease: Advanced Technologies of Positron Emission Tomography and Fluorescence Imaging.

The rapid progress in advanced imaging technologies has expanded our toolbox for monitoring a variety of biological aspects in living subjects including human. In vivo radiological imaging using small chemical tracers, such as with positron emission tomography, represents an especially vital breakthrough in the efforts to improve our understanding of the complicated cascade of neurodegenerative disorders including Alzheimer\u27s disease (AD), and it has provided the most reliable visible biomarkers for enabling clinical diagnosis. At the same time, in combination with genetically modified animal model systems, the most recent innovation of fluorescence imaging is helping establish diverse applications in basic neuroscience research, from single-molecule analysis to animal behavior manipulation, suggesting the potential utility of fluorescence technology for dissecting the detailed molecular-based consequence of AD pathophysiology. In this review, our primary focus is on a current update of PET radiotracers and fluorescence indicators beneficial for understanding the AD cascade, and discussion of the utility and pitfalls of those imaging modalities for future translational research applications. We will also highlight current cutting-edge genetic approaches and discuss how to integrate individual technologies for further potential innovations