Controlling the fold: proprioceptive feedback in a soft origami robot.

We demonstrate proprioceptive feedback control of a one degree of freedom soft, pneumatically actuated origami robot and an assembly of two robots into a two degree of freedom system. The base unit of the robot is a 41 mm long, 3-D printed Kresling-inspired structure with six sets of sidewall folds and one degree of freedom. Pneumatic actuation, provided by negative fluidic pressure, causes the robot to contract.

Occluded object detection and exposure in cluttered environments with automated hyperspectral anomaly detection.

Cluttered environments with partial object occlusions pose significant challenges to robot manipulation. In settings composed of one dominant object type and various undesirable contaminants, occlusions make it difficult to both recognize and isolate undesirable objects. Spatial features alone are not always sufficiently distinct to reliably identify anomalies under multiple layers of clutter, with only a fractional part of the object exposed.

Diverse Profile of Fermentation Byproducts From Thin Stillage.

The economy of biorefineries is influenced not only by biofuel production from carbohydrates but also by the production of valuable compounds from largely underutilized industrial residues. Currently, the demand for many chemicals that could be made in a biorefinery, such as succinic acid (SA), medium-chain fatty acids (MCFAs), and lactic acid (LA), is fulfilled using petroleum, palm oil, or pure carbohydrates as raw materials, respectively. Thin stillage (TS), the residual liquid material following distillation of ethanol, is an underutilized coproduct from the starch biofuel industry.

Multicopy plasmids affect replisome positioning in Bacillus subtilis.

The DNA replication machinery, various regions of the chromosome, and some plasmids occupy characteristic subcellular positions in bacterial cells. We visualized the location of a multicopy plasmid, pHP13, in living cells of Bacillus subtilis using an array of lac operators and LacI-green fluorescent protein (GFP). In the majority of cells, plasmids appeared to be highly mobile and randomly distributed.