Common electric powered wheelchairs cannot safely negotiate architectural barriers (i.e., curbs) which could injure the user and damage the wheelchair. Robotic wheelchairs have been developed to address this issue; however, proper alignment performed by the user is needed prior to negotiating curbs. Users with physical and/or sensory impairments may find it challenging to negotiate such barriers. Hence, a Curb Recognition and Negotiation (CRN) system was developed to increase user's speed and safety when negotiating a curb. This article describes the CRN system which combines an existing curb negotiation application of a mobility enhancement robot (MEBot) and a plane extraction algorithm called Polylidar3D to recognize curb characteristics and automatically approach and negotiate curbs. The accuracy and reliability of the CRN system were evaluated to detect an engineered curb with known height and 15 starting positions in controlled conditions. The CRN system successfully recognized curbs at 14 out of 15 starting positions and correctly determined the height and distance for the MEBot to travel towards the curb. While the MEBot curb alignment was 1.5 ± 4.4°, the curb ascending was executed safely. The findings provide support for the implementation of a robotic wheelchair to increase speed and reduce human error when negotiating curbs and improve accessibility.
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http://dx.doi.org/10.3390/s21237810 | DOI Listing |
Diagnostics (Basel)
December 2024
Peking University People's Hospital, Peking University Hepatology Institute, Infectious Disease and Hepatology Center of Peking University People's Hospital, Beijing Key Laboratory of Hepatitis C and Immunotherapy for Liver Diseases, Beijing International Cooperation Base for Science and Technology on NAFLD Diagnosis, Beijing 100044, China.
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Neurodegenerative Diseases Research Group, Vall d'Hebron Research Institute (VHIR) Network Center for Biomedical Research in Neurodegenerative Diseases (CIBERNED), 08035 Barcelona, Spain.
Autophagy is a vital cellular process responsible for the degradation of proteins, organelles, and other cellular components within lysosomes. In neurons, basal autophagy is indispensable for maintaining cellular homeostasis and protein quality control. Accordingly, lysosomal dysfunction has been proposed to be associated with neurodegeneration, and with Parkinson's disease (PD) in particular.
View Article and Find Full Text PDFACS Synth Biol
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Center for Cellular Immunotherapies, Perelman School of Medicine, Philadelphia, Pennsylvania 19104, United States.
Controlling gene expression is useful for many applications, but current methods often require external user inputs, such as the addition of a drug. We present an alternative approach using cell-autonomous triggers based on RNA stem loop structures in the 3' untranslated regions (UTRs) of mRNA. These stem loops are targeted by the RNA binding proteins Regnase-1 and Roquin-1, allowing us to program stimulation-induced transgene regulation in primary human T cells.
View Article and Find Full Text PDFAngew Chem Int Ed Engl
January 2025
School of Physical Science and Technology, ShanghaiTech University, 201210, Shanghai, China.
Autocatalytic reaction present a significant opportunity for the precise spatial and temporal control of dynamic materials, mimicking the characteristics of living matter within autonomous chemical systems. Herein, we have crafted an autocatalytic chemical reaction network (CRN) designed to be incorporated into a dynamic system, allowing for efficient control of both sol(I)-gel and gel-sol(II) transitions through autocatalytic fronts. The CRN incorporates two autocatalytic reactions.
View Article and Find Full Text PDFEntropy (Basel)
October 2024
Department of Mathematics and Computer Science, Transilvania University of Braşov, 500091 Braşov, Romania.
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