Bio-Inspired Take-Off Maneuver and Control in Vertical Jumping for Quadruped Robot with Manipulator.

The jumping motion of legged robots is an effective way to overcome obstacles in the rugged microgravity planetary exploration environment. At the same time, a quadruped robot with a manipulator can achieve operational tasks during movement, which is more practical. However, the additional manipulator will restrict the jumping ability of the quadruped robot due to the increase in the weight of the system, and more active degrees of freedom will increase the control complexity.

A General Rate-Distortion Optimization Method for Block Compressed Sensing of Images.

Block compressed sensing (BCS) is a promising technology for image sampling and compression for resource-constrained applications, but it needs to balance the sampling rate and quantization bit-depth for a bit-rate constraint. In this paper, we summarize the commonly used CS quantization frameworks into a unified framework, and a new bit-rate model and a model of the optimal bit-depth are proposed for the unified CS framework. The proposed bit-rate model reveals the relationship between the bit-rate, sampling rate, and bit-depth based on the information entropy of generalized Gaussian distribution.

Machine-vision fused brain machine interface based on dynamic augmented reality visual stimulation.

Brain-machine interfaces (BMIs) interpret human intent into machine reactions, and the visual stimulation (VS) paradigm is one of the most widely used of these approaches. Although VS-based BMIs have a relatively high information transfer rate (ITR), it is still difficult for BMIs to control machines in dynamic environments (for example, grabbing a dynamic object or targeting a walking person).In this study, we utilized a BMI based on augmented reality (AR) VS (AR-VS).

Interaction between positive and negative dielectric microparticles/microorganism in optoelectronic tweezers.

Optoelectronic tweezers (OET) is a noncontact micromanipulation technology for controlling microparticles and cells. In the OET, it is necessary to configure a medium with different electrical properties to manipulate different particles and to avoid the interaction between two particles. Here, a new method exploiting the interaction between different dielectric properties of micro-objects to achieve the trapping, transport, and release of particles in the OET system was proposed.

A tetrahedral DNA nanorobot with conformational change in response to molecular trigger.

Dynamic DNA origami nanostructures that respond to external stimuli are promising platforms for cargo delivery and nanoscale sensing. However, the low stability of such nanostructures under physiological conditions presents a major obstacle for their use in biomedical applications. This article describes a stable tetrahedral DNA nanorobot (TDN) programmed to undergo a controlled conformational change in response to epithelial cell adhesion molecule (EpCAM), a molecular biomarker specifically expressed on the circulating tumor cells.

Left-Handed or Right-Handed? Determinants of the Chirality of Helically Deformable Soft Actuators.

Helical curling and spiral structure are very common in nature, which inspire researchers to create various forms of helical configurations and actuators. The helically deformable actuators perform asymmetric deformations and show different chirality, which means that they can be left handed or right handed. However, the mechanism of helical curling and especially how the key factors influence the chirality of the actuator have not been systematically explained and well understood.

Optimization of the Fluidic-Based Assembly for Three-Dimensional Construction of Multicellular Hydrogel Micro-Architecture in Mimicking Hepatic Lobule-like Tissues.

Three-dimensional (3D) assembly of microstructures encapsulating co-cultured multiple cells can highly recapitulate the in vivo tissues, which has a great prospect in tissue engineering and regenerative medicine. In order to fully mimic the in vivo architecture, the hydrogel microstructure needs to be designed into a special shape and spatially organized without damage, which is very challenging because of its limited mechanical properties. Here, we propose a 3D assembly method for the construction of liver lobule-like microstructures (a mimetic gear-like microstructure of liver lobule) through the local fluidic interaction.

A Study on the Classification Effect of sEMG Signals in Different Vibration Environments Based on the LDA Algorithm.

Myoelectric prosthesis has become an important aid to disabled people. Although it can help people to recover to a nearly normal life, whether they can adapt to severe working conditions is a subject that is yet to be studied. Generally speaking, the working environment is dominated by vibration.

Spinal Cord Injury-Induced Changes in Encoding and Decoding of Bipedal Walking by Motor Cortical Ensembles.

Recent studies have shown that motor recovery following spinal cord injury (SCI) is task-specific. However, most consequential conclusions about locomotor functional recovery from SCI have been derived from quadrupedal locomotion paradigms. In this study, two monkeys were trained to perform a bipedal walking task, mimicking human walking, before and after T8 spinal cord hemisection.

Quantitative Detection of Components in Polymer-Bonded Explosives through Near-Infrared Spectroscopy with Partial Least Square Regression.

The components in polymer-bonded explosive X, including cyclotetramethylene-tetranitramine, paraffin, and polytetrafluoroethylene, were determined using near-infrared (NIR) spectroscopy. Using partial least squares as the multivariate calibration method, quantitative calibration models for components in X were verified internally and externally. The possible combinations of eight general spectral pretreatment methods and different bands of the scanning spectral region (12,500-4000 cm) were established.

Reconfigurable multi-component micromachines driven by optoelectronic tweezers.

There is great interest in the development of micromotors which can convert energy to motion in sub-millimeter dimensions. Micromachines take the micromotor concept a step further, comprising complex systems in which multiple components work in concert to effectively realize complex mechanical tasks. Here we introduce light-driven micromotors and micromachines that rely on optoelectronic tweezers (OET).

Synthesis of a Reactive Template-Induced Core-Shell PZS@ZIF-67 Composite Microspheres and Its Application in Epoxy Composites.

Developing superior properties of epoxy resin composites with high fire resistance, light smoke, and low toxicity has been the focus of the research in the flame-retardant field. In particular, it is essential to decrease the emissions of toxic gases and smoke particles generated during the thermal decomposition of epoxy resin (EP) to satisfy the industrial requirements for environmental protection and safety. Consequently, the PZS@ZIF-67 composite was designed and synthesized by employing the hydroxyl group-containing polyphosphazene (poly(cyclotriphosphazene-co-4,4'-dihydroxydiphenylsulfone), PZS) as both the interfacial compatibility and an in situ template and the ZIF-67 nanocrystal as a nanoscale coating and flame-retardant cooperative.

Different Modes of Low-Frequency Focused Ultrasound-Mediated Attenuation of Epilepsy Based on the Topological Theory.

Epilepsy is common brain dysfunction, where abnormal synchronized activities can be observed across multiple brain regions. Low-frequency focused pulsed ultrasound has been proven to modulate the epileptic brain network. In this study, we used two modes of low-intensity focused ultrasound (pulsed-wave and continuous-wave) to sonicate the brains of KA-induced epileptic rats, analyzed the EEG functional brain connections to explore their respective effect on the epileptic brain network, and discuss the mechanism of ultrasound neuromodulation.

Influence of layered skull modeling on the frequency sensitivity and target accuracy in simulations of transcranial current stimulation.

With the development of electrical stimulation technology, especially the emergence of temporally interfering (TI) stimulation, it is necessary to discuss the influence of current frequency on stimulation intensity. Accurate skull modeling is important for transcranial current stimulation (tCS) simulation prediction because of its large role in dispersing current. In this study, we simulated different frequencies of transcranial alternating current stimulation (tACS) and TI stimulation in single-layer and layered skull model, compared the electric field via error parameters such as the relative difference measure and relative magnification factor.

Centered Multi-Task Generative Adversarial Network for Small Object Detection.

Despite the breakthroughs in accuracy and efficiency of object detection using deep neural networks, the performance of small object detection is far from satisfactory. Gaze estimation has developed significantly due to the development of visual sensors. Combining object detection with gaze estimation can significantly improve the performance of small object detection.

Electronic and photochemical properties of hybrid binary silicon and germanium derived Janus monolayers.

The electronic structures and optical properties of a novel class of hybrid binary Janus materials derived from IV-V groups were investigated using first principles calculations. The computational results demonstrated that, except for GeNAs, all the other five structures of MXY monolayers (M = Si, Ge; X, Y = N, P, As; X ≠ Y) have excellent thermal and dynamical stabilities. Janus SiNP, SiNAs, SiPAs and GeNP are semiconductors with direct band gaps spanning the range between 0.

Research on Design, Calibration and Real-Time Image Expansion Technology of Unmanned System Variable-Scale Panoramic Vision System.

This paper summarized the research status, imaging model, systems calibration, distortion correction, and panoramic expansion of panoramic vision systems, pointed out the existing problems and put forward the prospect of future research. According to the research status of panoramic vision systems, a panoramic vision system with single viewpoint of refraction and reflection is designed. The systems had the characteristics of fast acquisition, low manufacturing cost, fixed single-view imaging, integrated imaging, and automatic switching depth of field.

Coupling relationship between glucose and oxygen metabolisms to differentiate preclinical Alzheimer's disease and normal individuals.

The discovery of preclinical Alzheimer's disease (preAD) provides a wide time window for the early intervention of AD. The coupling relationships between glucose and oxygen metabolisms from hybrid PET/MRI can provide complementary information on the brain's physiological state for preAD. In this study, we purpose to explore the change of coupling relationship among 27 normal controls (NCs), 20 preADs, and 15 cognitive impairments (CIs).

Bio-assembling and Bioprinting for Engineering Microvessels from the Bottom Up.

Blood vessels are essential in transporting nutrients, oxygen, metabolic wastes, and maintaining the homeostasis of the whole human body. Mass of engineered microvessels is required to deliver nutrients to the cells included in the constructed large three-dimensional (3D) functional tissues by diffusion. It is a formidable challenge to regenerate microvessels and build a microvascular network, mimicking the cellular viabilities and activities in the engineered organs with traditional or existing manufacturing techniques.

Research on the Ignition Height and Reaction Flame Temperature of PTFE/Al/Si/CuO with Different Mass Ratios of PTFE/Si.

Recent studies have shown that the energy release capacity of Polytetrafluoroethylene (PTFE)/Al with Si, and CuO, respectively, is higher than that of PTFE/Al. PTFE/Al/Si/CuO reactive materials with four proportions of PTFE/Si were designed by the molding-sintering process to study the influence of different PTFE/Si mass ratios on energy release. A drop hammer was selected for igniting the specimens, and the high-speed camera and spectrometer systems were used to record the energy release process and the flame spectrum, respectively.

A Pupil Segmentation Algorithm Based on Fuzzy Clustering of Distributed Information.

Pupil segmentation is critical for line-of-sight estimation based on the pupil center method. Due to noise and individual differences in human eyes, the quality of eye images often varies, making pupil segmentation difficult. In this paper, we propose a pupil segmentation method based on fuzzy clustering of distributed information, which first preprocesses the original eye image to remove features such as eyebrows and shadows and highlight the pupil area; then the Gaussian model is introduced into global distribution information to enhance the classification fuzzy affiliation for the local neighborhood, and an adaptive local window filter that fuses local spatial and intensity information is proposed to suppress the noise in the image and preserve the edge information of the pupil details.

Human Somatosensory Processing and Artificial Somatosensation.

In the past few years, we have gained a better understanding of the information processing mechanism in the human brain, which has led to advances in artificial intelligence and humanoid robots. However, among the various sensory systems, studying the somatosensory system presents the greatest challenge. Here, we provide a comprehensive review of the human somatosensory system and its corresponding applications in artificial systems.

Automated Cell Mechanical Characterization by On-Chip Sequential Squeezing: From Static to Dynamic.

The mechanical properties of cells are harmless biomarkers for cell identification and disease diagnosis. Although many systems have been developed to evaluate the static mechanical properties of cells for biomedical research, their robustness, effectiveness, and cost do not meet clinical requirements or the experiments with a large number of cell samples. In this paper, we propose an approach for on-chip cell mechanical characterization by analyzing the dynamic behavior of cells as they pass through multiple constrictions.

Segmentation and recognition of breast ultrasound images based on an expanded U-Net.

This paper establishes a fully automatic real-time image segmentation and recognition system for breast ultrasound intervention robots. It adopts the basic architecture of a U-shaped convolutional network (U-Net), analyses the actual application scenarios of semantic segmentation of breast ultrasound images, and adds dropout layers to the U-Net architecture to reduce the redundancy in texture details and prevent overfitting. The main innovation of this paper is proposing an expanded training approach to obtain an expanded of U-Net.

Organometallo-macrocycle assembled through dialumane-mediated C-H activation of pyridines.

Dialumane 1 reacts with pyridines at elevated temperatures through regioselective reductive dehydrogenation of 4-H, affording a unique hexanuclear Al(iii) macrocycle [{LAl(pyridyl)}6], which represents the first dialumane-mediated C-H activation of Py and may suggest a new approach toward organometallo supra-molecules by one-pot small molecule activation and self-assembly.