Towards an intelligent distributed conveyor

Manipulation, orientation and handling of components, subparts and finished products is an essential element of any industrial process, which attracts substantial portion of resources and infrastructure. A classic manipulation, e.g. robot arms, is not always efficient at the micro-scale and suffers in terms of scaleabil- ity. We proposed an alternative concept of manipulation based on an array of actuators. The proposed system rely on the natural concepts of scaleability and parallelism: ciliary motion and excitable media control

Interaction Issues in Computer Aided Semantic\ud Annotation of Multimedia

The CASAM project aims to provide a tool for more efficient and effective annotation of multimedia documents through collaboration between a user and a system performing an automated analysis of the media content. A critical part of the project is to develop a user interface which best supports both the user and the system through optimal human-computer interaction. In this paper we discuss the work undertaken, the proposed user interface and underlying interaction issues which drove its development

Biological computing using perfusion anodophile biofilm electrodes (PABE)

This paper presents a theoretical approach to biological computing, using biofilm electrodes by illustrating a simplified Pavlovian learning model. The theory behind this approach was based on empirical data produced from a prototype version of these units, which illustrated high stability. The implementation of this system into the Pavlovian learning model, is one example and possibly a first step in illustrating, and at the same time discovering its potential as a computing processor. © 2007 Old City Publishing, Inc

EcoBot-II: An artificial agent with a natural metabolism

In this paper we report the development of the robot EcoBot-II, which exhibits a primitive form of artificial symbiosis. Microbial Fuel Cells (MFCs) were used as the onboard energy supply, which consisted of bacterial cultures from sewage sludge and employed oxygen from free air for oxidation at the cathode. EcoBot-II was able to perform sensing, information processing, communication and actuation when fed (amongst other substrates) with flies. This is the first robot in the world, to utilise unrefined substrate, oxygen from free air and exhibit four different types of behaviour

Design of a wearable fingertip haptic device for remote palpation: Characterisation and interface with a virtual environment

© 2018 Tzemanaki, Al, Melhuish and Dogramadzi. This paper presents the development of a wearable Fingertip Haptic Device (FHD) that can provide cutaneous feedback via a Variable Compliance Platform (VCP). The FHD includes an inertial measurement unit, which tracks the motion of the user's finger while its haptic functionality relies on two parameters: pressure in the VCP and its linear displacement towards the fingertip. The combination of these two features results in various conditions of the FHD, which emulate the remote object or surface stiffness properties. Such a device can be used in tele-operation, including virtual reality applications, where rendering the level of stiffness of different physical or virtual materials could provide a more realistic haptic perception to the user. The FHD stiffness representation is characterised in terms of resulting pressure and force applied to the fingertip created through the relationship of the two functional parameters - pressure and displacement of the VCP. The FHD was tested in a series of user studies to assess its potential to create a user perception of the object's variable stiffness. The viability of the FHD as a haptic device has been further confirmed by interfacing the users with a virtual environment. The developed virtual environment task required the users to follow a virtual path, identify objects of different hardness on the path and navigate away from "no-go" zones. The task was performed with and without the use of the variable compliance on the FHD. The results showed improved performance with the presence of the variable compliance provided by the FHD in all assessed categories and particularly in the ability to identify correctly between objects of different hardness

Gelatin as a promising printable feedstock for microbial fuel cells (MFC)

© 2016 Hydrogen Energy Publications LLC The microbial fuel cell (MFC) is an energy transducer that can directly produce electricity from bacterial oxidation of organic matter. MFCs consist of two reaction chambers (anode and cathode) separated by a semipermeable membrane. This study describes the work carried out towards the optimization of critical MFC components, with 3D fabricated materials. The response of the optimized fuel cells, which were fed with soft materials such as gelatin, alginate and Nafion™, is also reported. The optimised components were the membrane and the cathode electrode. A conventional Nafion membrane was substituted with a custom made terracotta sheet and the electrode used was a single sheet of carbon veil coated with an activated carbon paste. The results showed that among the soft materials tested within the anodic chamber, gelatin performed the best; it also revealed that even after a 10-day starvation period gelatin demonstrated better longevity. These results show that MFCs have the potential to be 3D-printed monolithically using the EVOBOT platform

Microbial Fuel Cell-driven caustic potash production from wastewater for carbon sequestration

© 2016 The Authors. This work reports on the novel formation of caustic potash (KOH) directly on the MFC cathode locking carbon dioxide into potassium bicarbonate salt (kalicinite) while producing, instead of consuming electrical power. Using potassium-rich wastewater as a fuel for microorganisms to generate electricity in the anode chamber, has resulted in the formation of caustic catholyte directly on the surface of the cathode electrode. Analysis of this liquid has shown to be highly alkaline (pH > 13) and act as a CO2 sorbent. It has been later mineralised to kalicinite thus locking carbon dioxide into potassium bicarbonate salt. This work demonstrates an electricity generation method as a simple, cost-effective and environmentally friendly route towards CO2 sequestration that perhaps leads to a carbon negative economy. Moreover, it shows a potential application for both electricity production and nutrient recovery in the form of minerals from nutrient-rich wastewater streams such as urine for use as fertiliser in the future

Particle sorting by Paramecium cilia arrays

© 2017 Elsevier B.V. Motile cilia are cell-surface organelles whose purposes, in ciliated protists and certain ciliated metazoan epithelia, include generating fluid flow, sensing and substance uptake. Certain properties of cilia arrays, such as beating synchronisation and manipulation of external proximate particulate matter, are considered emergent, but remain incompletely characterised despite these phenomena having being the subject of extensive modelling. This study constitutes a laboratory experimental characterisation of one of the emergent properties of motile cilia: manipulation of adjacent particulates. The work demonstrates through automated videomicrographic particle tracking that interactions between microparticles and somatic cilia arrays of the ciliated model organism Paramecium caudatum constitute a form of rudimentary ‘sorting’. Small particles are drawn into the organism's proximity by cilia-induced fluid currents at all times, whereas larger particles may be held immobile at a distance from the cell margin when the cell generates characteristic feeding currents in the surrounding media. These findings can contribute to the design and fabrication of biomimetic cilia, with potential applications to the study of ciliopathies

An anthropomorphic design for a minimally invasive surgical system based on a survey of surgical technologies, techniques and training

© 2013 John Wiley & Sons, Ltd. Background: Over the past century, abdominal surgery has seen a rapid transition from open procedures to less invasive methods, such as robot-assisted minimally invasive surgery (MIS). This study aimed to investigate and discuss the needs of MIS in terms of instrumentation and to inform the design of a novel instrument. Methods: A survey was conducted among surgeons regarding their opinions on surgical training, surgical systems, how satisfied they were with them and how easy they were to use. A concept for MIS robotic instrumentation was then developed and a series of focus groups with surgeons were run to discuss it. The initial prototype of the robotic instruments, herein demonstrated, comprises modular rigid links with soft joints actuated by shape memory alloy helix actuators; these instruments are controlled using a sensory hand exoskeleton. Results: The results of the survey, as well as those of the focus groups, are presented here. A first prototype of the system was built and initial laboratory tests have been conducted in order to evaluate this approach. Conclusions: The analysed data from both the survey and the focus groups justify the chosen concept of an anthropomorphic MIS robotic system which imitates the natural motion of the hands