Where Does It Belong? Autonomous Object Mapping in Open-World Settings.

Detecting changes such as moved, removed, or new objects is the essence for numerous indoor applications in robotics such as tidying-up, patrolling, and fetch/carry tasks. The problem is particularly challenging in open-world scenarios where novel objects may appear at any time. The main idea of this paper is to detect objects from partial 3D reconstructions of interesting areas in the environment.

Hand-Object Interaction: From Human Demonstrations to Robot Manipulation.

Human-object interaction is of great relevance for robots to operate in human environments. However, state-of-the-art robotic hands are far from replicating humans skills. It is, therefore, essential to study how humans use their hands to develop similar robotic capabilities.

DGCM-Net: Dense Geometrical Correspondence Matching Network for Incremental Experience-Based Robotic Grasping.

This article presents a method for grasping novel objects by learning from experience. Successful attempts are remembered and then used to guide future grasps such that more reliable grasping is achieved over time. To transfer the learned experience to unseen objects, we introduce the dense geometric correspondence matching network (DGCM-Net).

Improving Hematite's Solar Water Splitting Efficiency by Incorporating Rare-Earth Upconversion Nanomaterials.

Confounded by global energy needs, much research has been devoted to convert solar energy to various usable forms, such as chemical energy in the form of hydrogen via water splitting. Most photoelectrodes, such as hematite, utilize UV and visible radiation, whereas ∼40% infrared (IR) energy remains unconverted. This work represents our initial attempt to utilize IR radiation, that is, adding rare-earth materials to existing photoelectrodes.

Human cortical traveling waves: dynamical properties and correlations with responses.

The spatiotemporal behavior of human EEG oscillations is investigated. Traveling waves in the alpha and theta ranges are found to be common in both prestimulus and poststimulus EEG activity. The dynamical properties of these waves, including their speeds, directions, and durations, are systematically characterized for the first time, and the results show that there are significant changes of prestimulus spontaneous waves in the presence of an external stimulus.

Fabrication and characterization of rare-earth-doped nanostructures on surfaces.

This article presents a simple and practical means to produce rare-earth-based nanostructures, as well as a combined characterization of structure and optical properties in situ. A nanosphere lithography strategy combined with surface chemistry enables the production of arrays of β-NaYF(4):Yb,Er nanorings inlaid in an octadecyltrichlorosilane matrix. These arrays of nanorings are produced over the entire support, such as a 1 cm(2) glass coverslip.

pH responsive polymer cushions for probing membrane environment interactions.

A robust and straightforward method for the preparation of lipid membranes upon dynamically responsive polymer cushions is reported. Structural characterization demonstrates that complete, well-packed membranes with tunable mobility can be constructed on the polymeric cushion. With this system, membrane conformational changes induced by cellular cytoskeleton interactions can be modeled.

A stripe-to-droplet transition driven by conformational transitions in a binary lipid-lipopolymer mixture at the air-water interface.

We report the observation of an unusual stripe-droplet transition in precompressed Langmuir monolayers consisting of mixtures of poly(ethylene) glycol (PEG) amphiphiles and phospholipids. This highly reproducible and fully reversible transition occurs at approximately zero surface pressure during expansion (or compression) of the monolayer following initial compression into a two-dimensional solid phase. It is characterized by spontaneous emergence of an extended, disordered stripe-like morphology from an optically homogeneous phase during gradual expansion.

Identification of acidic phosphorus-containing ligands involved in the surface chemistry of CdSe nanoparticles prepared in tri-N-octylphosphine oxide solvents.

The surface ligand composition of CdSe nanoparticles prepared using technical grade tri-n-octylphosphine oxide (TOPO) was investigated using a nucleophilic ligand displacement methodology and (31)P {(1)H} NMR spectroscopy. 4-(N,N-Dimethylamino)pyridine (DMAP) and benzyltrimethylammonium propionate were added to tetrahydrofuran solutions of CdSe nanoparticles prepared in technical grade TOPO. DMAP was shown to be a sufficiently strong nucleophile to displace the more weakly coordinating ligands, TOPO, TOPSe, di-n-octylphosphinate, and n-octylphosphonate (OPA).

Asymmetric dinuclear copper(I) complexes of bis-(2-(2-pyridyl)ethyl)-2-(N-toluenesulfonylamino)ethylamine with short copper-copper distances.

Addition of two equivalents of CuCl to deprotonated bis-(2-(2-pyridyl)ethyl)-2-(N-toluenesulfonylamino)ethylamine (PETAEA) and its derivatives yielded new types of dinuclear Cu(I) complexes, Cu(mu-PETAEA)CuCl, Cu(mu-PEMAEA)CuCl, and Cu(mu-PENAEA)CuCl (PEMAEA is the 4-methoxyphenyl derivative of PETAEA and PENAEA is the 4-nitrophenyl derivative), exhibiting a four coordinate N(4)Cu center, a two coordinate NCuCl center, and a metal-metal distance within the range of 2.6572(8) to 2.6903(3) A.

High-efficiency stepwise contraction and adsorption nanolithography.

A new miniaturization protocol is demonstrated using stretching and relaxation of an elastomer substrate. A designed microstructure is formed on the stretched substrate and subsequently becomes miniaturized when the substrate relaxes. More importantly, the miniaturized structures can be transferred onto a new substrate for further miniaturization or can be utilized as stamps for nanolithography of designated materials.

Nanoparticle agglutination: acceleration of aggregation rates and broadening of the analyte concentration range using mixtures of various-sized nanoparticles.

SiO(2) particles of various sizes were prepared and surface modified with biotin-chain-end-functionalized poly(ethylene glycol). Dispersions of these particles were prepared, and their aggregation was induced upon the addition of avidin. The aggregate size and growth rate were monitored by DLS analysis, and SEM and TEM images of freeze-dried samples of the aggregate solutions were used to confirm the DLS data and to image the aggregate size and dimension.

Measuring the size dependence of Young's modulus using force modulation atomic force microscopy.

The dependence of the local Young's modulus of organic thin films on the size of the domains at the nanometer scale is systematically investigated. Using atomic force microscopy (AFM) based imaging and lithography, nanostructures with designed size, shape, and functionality are preengineered, e.g.

Copper(I) and -(II) complexes of neutral and deprotonated N-(2,6-diisopropylphenyl)-3-[bis(2-pyridylmethyl)amino]propanamide.

As part of a study of atom-transfer radical polymerization (ATRP) catalysts, four new copper(I) and -(II) compounds of a new monoanionic, tripodal tetradentate ligand, N-(2,6-diisopropylphenyl)-3-[bis(2-pyridylmethyl)amino]propanamide (DIPMAP), were prepared. Ligand synthesis followed from the addition-elimination reaction of 2,6-diisopropylaniline with acryloyl chloride and then a Lewis acid catalyzed Michael addition of bis(2-pyridylmethyl)amine to this product. The ligand was complexed to CuCl to yield monomeric Cu(DIPMAP)Cl featuring an intramolecular hydrogen bond between the free amide hydrogen and the coordinated chloride ligand.

Biomolecule detection via target mediated nanoparticle aggregation and dielectrophoretic impedance measurement.

A new biosensing system is described that is based on the aggregation of nanoparticles by a target biological molecule and dielectrophoretic impedance measurement of these aggregates. The aggregation process was verified within a microchannel via fluorescence microscopy, demonstrating that this process can be used in a real time sensor application. Positive dielectrophoresis is employed to capture the nanoparticle aggregates at the edge of thin film electrodes, where their presence is detected either by optical imaging via fluorescence microscopy or by measuring the change in electrical impedance between adjacent electrodes.

Identification and characterization of monoanionic tripodal tetradentate ligand complexes of copper(I) and copper(II) involved in halogen atom transfer reactions.

The copper(I) complex of bis-(2-(2-pyridyl)-ethyl)-(2-(N-p-toluenesulfonamido)-ethyl)amine (PETAEA), a monoanionic, tripodal tetradentate ligand, was prepared, characterized, and shown to be an effective catalyst for atom transfer radical polymerization (ATRP). A model atom transfer reaction of Cu(PETAEA) with 1-phenylethyl bromide and TEMPO radical trapping agent was studied. The copper(II) complex formed in this reaction was identified by comparison of its spectroscopic data with that of Cu(PETAEA)Br prepared by an independent synthesis.