Hybrid control of hydraulic directional valves: Integrating physics-based and data-driven models for enhanced accuracy and efficiency.

In this paper, we tackle the challenge of accurately controlling the position of the valve spool in hydraulic 4/3 two-stage directional control valves utilized in mobile applications. The pilot valve's overlapping design often leads to a significant dead zone, negatively impacting positioning accuracy and necessitating a sophisticated controller design. To overcome these challenges, we introduce a control strategy founded on a control-oriented model.

Methylglyoxal alters collagen fibril nanostiffness and surface potential.

Collagen fibrils are fundamental to the mechanical strength and function of biological tissues. However, they are susceptible to changes from non-enzymatic glycation, resulting in the formation of advanced glycation end-products (AGEs) that are not reversible. AGEs accumulate with aging and disease and can adversely impact tissue mechanics and cell-ECM interactions.

An experimental study of the sensorized strain wave gear RT1-T and its capabilities for torque control in robotic joints.

The idea of sensorizing a strain wave gear to measure the transmitted torque has been reported since the 1980s. The strain in the elastic flex spline is typically measured by strain gages attached to it. The resulting voltages relate to the transmitted torque in the gear.

Human-in-the-loop error detection in an object organization task with a social robot.

In human-robot collaboration, failures are bound to occur. A thorough understanding of potential errors is necessary so that robotic system designers can develop systems that remedy failure cases. In this work, we study failures that occur when participants interact with a working system and focus especially on errors in a robotic system's knowledge base of which the system is not aware.

Master-Slave Control System for Virtual-Physical Interactions Using Hands.

Among the existing technologies for hand protection, master-slave control technology has been extensively researched and applied within the field of safety engineering to mitigate the occurrence of safety incidents. However, it has been identified through research that traditional master-slave control technologies no longer meet current production and lifestyle needs, and they have even begun to pose new safety risks. To resolve the safety risks exposed by traditional master-slave control, this research fuses master-slave control technology for hands with virtual reality technology, and the design of a master-slave control system for hands based on virtual reality technology is investigated.

Optimal force control of a permanent magnet linear synchronous motor with multiple shuttles.

Using permanent magnet linear synchronous machines for transportation tasks offers a higher flexibility in production plants compared to conventional conveyor solutions. In this context, passive transportation devices (shuttles) with permanent magnets are commonly used. When multiple shuttles are operated in close vicinity, disturbances due to magnetic interaction can occur.

Robotic gaze and human views: A systematic exploration of robotic gaze aversion and its effects on human behaviors and attitudes.

Similar to human-human interaction (HHI), gaze is an important modality in conversational human-robot interaction (HRI) settings. Previously, human-inspired gaze parameters have been used to implement gaze behavior for humanoid robots in conversational settings and improve user experience (UX). Other robotic gaze implementations disregard social aspects of gaze behavior and pursue a technical goal (e.

AC Kelvin Probe Force Microscopy Enables Charge Mapping in Water.

Mapping charged chemical groups at the solid-liquid interface is important in many areas, ranging from colloidal systems to biomolecular interactions. However, classical methods to measure surface charges either lack spatial resolution or─like Kelvin-probe force microscopy (KPFM)─cannot be applied in aqueous solutions because a DC bias voltage is used. Here, we show that using AC Kelvin probe force microscopy (AC-KPFM), in which the DC bias is replaced with an AC voltage of sufficiently high frequency, the surface potential of spatially fixated, charged surface groups can be mapped in aqueous solution.

Instrument for tensile testing of individual collagen fibrils with facile sample coupling and uncoupling.

Collagen is the major structural protein in human bodies constituting about 30% of the entire protein mass. Through a self-assembly process, triple helical collagen molecules assemble into high aspect-ratio fibers of tens to hundreds of nanometer diameter, known as collagen fibrils (CFs). In the last decade, several methods for tensile testing these CFs emerged.

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.

Real-time optimal quantum control of mechanical motion at room temperature.

The ability to accurately control the dynamics of physical systems by measurement and feedback is a pillar of modern engineering. Today, the increasing demand for applied quantum technologies requires adaptation of this level of control to individual quantum systems. Achieving this in an optimal way is a challenging task that relies on both quantum-limited measurements and specifically tailored algorithms for state estimation and feedback.

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).

Glycation changes molecular organization and charge distribution in type I collagen fibrils.

Collagen fibrils are central to the molecular organization of the extracellular matrix (ECM) and to defining the cellular microenvironment. Glycation of collagen fibrils is known to impact on cell adhesion and migration in the context of cancer and in model studies, glycation of collagen molecules has been shown to affect the binding of other ECM components to collagen. Here we use TEM to show that ribose-5-phosphate (R5P) glycation of collagen fibrils - potentially important in the microenvironment of actively dividing cells, such as cancer cells - disrupts the longitudinal ordering of the molecules in collagen fibrils and, using KFM and FLiM, that R5P-glycated collagen fibrils have a more negative surface charge than unglycated fibrils.

Signal reversal in Kelvin-probe force microscopy.

Kelvin-probe force microscopy is a measurement mode of atomic force microscopy, which is used to quantitatively map the electrical surface potential of a sample. Inadequate hardware and electronic design can lead to signal cross talk and, in consequence, false results. Here, we show that certain cross talk artifacts not only do manifest themselves in additional noise, reduced resolution, or an offset of the measured surface potential but can also lead to an inverted signal scale and, crucially, cannot be diagnosed with a known reference signal.

Water desorption in Kelvin-probe force microscopy: a generic model.

Nanoparticles or similar, nanoscale objects such as proteins or biological fibrils usually have to be deposited from aqueous suspension onto a solid support surface for further characterization by atomic force microscopy (AFM) and related methods such as Kelvin-probe force microscopy (KFM). Here we show, on the examples of functionalized nanoparticles and collagen fibrils, that water desorption after sample preparation affects their electrostatic potential determined by KFM in a predictable manner. We explain this effect with a simple, analytical model based on the capacitance of the partially dielectric-filled tip-sample system.

Evaluation of surface charge shift of collagen fibrils exposed to glutaraldehyde.

Collagen fibrils are a major component of the extracellular matrix. They form nanometer-scale "cables" acting as a scaffold for cells in animal tissues and are widely used in tissue-engineering. Besides controlling their structure and mechanical properties, it is crucial to have information of their surface charge, as this affects how cells attach to the scaffold.

Active damping by Q-control for fast force-distance curve measurements in atomic force microscopy.

This paper investigates the benefit of active damping by an analog Q-control circuit for measuring fast force-distance curves in atomic force microscopy. By active damping of the cantilever oscillation after snap-off, the down-ring time-constant is reduced significantly from 385 μs to 23 μs. Experimental results demonstrate that the number of force-distance curves per second can be increased by a factor of more than 30.

Atomic force microscopy capable of vibration isolation with low-stiffness Z-axis actuation.

For high-resolution imaging without bulky external vibration isolation, this paper presents an atomic force microscope (AFM) capable of vibration isolation with its internal Z-axis (vertical) actuators moving the AFM probe. Lorentz actuators (voice coil actuators) are used for the Z-axis actuation, and flexures guiding the motion are designed to have a low stiffness between the mover and the base. The low stiffness enables a large Z-axis actuation of more than 700 µm and mechanically isolates the probe from floor vibrations at high frequencies.

High bandwidth deflection readout for atomic force microscopes.

This contribution presents the systematic design of a high bandwidth deflection readout mechanism for atomic force microscopes. The widely used optical beam deflection method is revised by adding a focusing lens between the cantilever and the quadrant photodetector (QPD). This allows the utilization of QPDs with a small active area resulting in an increased detection bandwidth due to the reduced junction capacitance.

Automated spherical aberration correction in scanning confocal microscopy.

Mismatch between the refractive indexes of immersion media and glass coverslips introduces spherical aberrations in microscopes especially for high numerical aperture objectives. This contribution demonstrates an automated adjustment of the coverslip correction collar in scanning confocal microscopy to compensate for spherical aberrations due to coverslip thickness mismatch. With a motorized coverslip correction collar, the adjustment procedure consists of xz image scans, image processing, correction quality evaluation, the mismatch estimation, and eventually the optimal adjustment of the correction collar.

FlyMAD: rapid thermogenetic control of neuronal activity in freely walking Drosophila.

Rapidly and selectively modulating the activity of defined neurons in unrestrained animals is a powerful approach in investigating the circuit mechanisms that shape behavior. In Drosophila melanogaster, temperature-sensitive silencers and activators are widely used to control the activities of genetically defined neuronal cell types. A limitation of these thermogenetic approaches, however, has been their poor temporal resolution.

Interactive object modelling based on piecewise planar surface patches.

Detecting elements such as planes in 3D is essential to describe objects for applications such as robotics and augmented reality. While plane estimation is well studied, table-top scenes exhibit a large number of planes and methods often lock onto a dominant plane or do not estimate 3D object structure but only homographies of individual planes. In this paper we introduce MDL to the problem of incrementally detecting multiple planar patches in a scene using tracked interest points in image sequences.

Learning of perceptual grouping for object segmentation on RGB-D data.

Object segmentation of unknown objects with arbitrary shape in cluttered scenes is an ambitious goal in computer vision and became a great impulse with the introduction of cheap and powerful RGB-D sensors. We introduce a framework for segmenting RGB-D images where data is processed in a hierarchical fashion. After pre-clustering on pixel level parametric surface patches are estimated.

Active Damping of a Piezoelectric Tube Scanner using Self-Sensing Piezo Actuation.

In most Atomic Force Microscopes (AFM), a piezoelectric tube scanner is used to position the sample underneath the measurement probe. Oscillations stemming from the weakly damped resonances of the tube scanner are a major source of image distortion, putting a limitation on the achievable imaging speed. This paper demonstrates active damping of these oscillations in multiple scanning axes without the need for additional position sensors.