Fine Manipulation Research Articles

Photonic-assisted chirped microwave pulses generation with a flexible and fine parameter manipulation.

A photonic approach for generating chirped microwave pulses with a flexible and fine parameter manipulation is proposed and experimentally demonstrated. In the proposed system, an intensity modulator (IM) biased at the minimum transmission point is used to generate two ± 1st-order optical sidebands which are then sent to a phase modulator (PM) for implementing large-signal phase modulations. A de-interleaver combined with an optical variable delay line (OVDL) is utilized to introduce a time delay between two phase-modulated optical signals. A second IM that acts as a time domain intensity switch (TDIS) is used to select different phase modulation ranges of the two phase-modulated optical signals. After the optical-electrical conversion in a photodetector (PD), chirped microwave pulses are generated. The key feature of this approach is that the parameters of the generated chirped microwave pulses including central frequency, pulse repetition frequency, and chirp rate can be flexibly and precisely manipulated by the radio frequency (RF) signals applied to modulators. A proof-of-principle experiment is carried out to verify the proposed approach. Consequently, positive or negative chirped microwave pulses with different central frequencies at 20, 22, 24 or 26 GHz and different pulse repetition frequencies at 1.5 or 2 GHz are generated, respectively.

A New Dexterous Hand Based on Bio-Inspired Finger Design for Inside-Hand Manipulation

This paper presents a new design of finger proposed by the ROBIOSS team of the PPRIME Institute: it is a fully actuated bio-inspired four-degree-of-freedom (DOF) finger driven by four actuators. It has been developed with the aim to replicate fine manipulation with fingertips with a high degree of interaction with the environment. This paper proposes to realize a robotic hand for inside-hand fine manipulation and adaptive grasping. The robotic hand is equipped with fingers whose design is based on a human anatomical finger model. Thus, several fingers can be assembled for building a human-sized dexterous hand with an anthropomorphic look. The modular design offers the ability to choose the number of fingers to be used as well as to adjust finger placement based on the manipulation task requirement. The tendon-based actuation presents a routing of the tendons that minimizes friction, kinematic, and static coupling between different finger axes in the transmission from motors to joints. Unlike many existing robotic hands, including our first anthropomorphic hand, we address the difficulties by decoupling joint motions with a new solution for the universal joint at the base of the finger. The results obtained demonstrate an excellent dynamic behavior and accuracy of the finger motion. Finally, the new finger design led to the development of a fully actuated mechanical hand with four fingers and with 16 DOF: the ROBIOSS hand. The hand was embedded on an industrial robot. A manipulation task that uses simultaneously abduction–adduction motion and flexion–extension motion of the finger demonstrates the potential of the hand for accurate manipulation.

Mechano‐ and Photochromism from Bulk to Nanoscale: Data Storage on Individual Self‐Assembled Ribbons

A Pt(II) complex, bearing an oligo‐ethyleneoxide pendant, is able to self‐assemble in ultralong ribbons that display mechanochromism upon nanoscale mechanical stimuli, delivered through atomic force microscopy (AFM). Such observation paves the way to fine understanding and manipulation of the mechanochromic properties of such material at the nanoscale. AFM allows quantitative assessment of nanoscale mechanochromism as arising from static pressure (piezochromism) and from shear‐based mechanical stimuli (tribochromism), and to compare them with bulk pressure‐dependent luminescence observed with diamond‐anvil cell (DAC) technique. Confocal spectral imaging reveals that mechanochromism only takes place within short distance from the localized mechanical stimulation, which allows to design high‐density information writing with AFM nanolithography applied on individual self‐assembled ribbons. Each ribbon hence serves as an individual microsystem for data storage. The orange luminescence of written information displays high contrast compared to cyan native luminescence; moreover, it can be selectively excited with visible light. In addition, ribbons show photochromism, i.e., the emission spectrum changes upon exposure to light, in a similar way as upon mechanical stress. Photochromism is here conveniently used to conceal and eventually erase information previously written with nanolithography by irradiation.

Controlling Octahedral Rotations in a Perovskite via Strain Doping.

The perovskite unit cell is the fundamental building block of many functional materials. The manipulation of this crystal structure is known to be of central importance to controlling many technologically promising phenomena related to superconductivity, multiferroicity, mangetoresistivity, and photovoltaics. The broad range of properties that this structure can exhibit is in part due to the centrally coordinated octahedra bond flexibility, which allows for a multitude of distortions from the ideal highly symmetric structure. However, continuous and fine manipulation of these distortions has never been possible. Here, we show that controlled insertion of He atoms into an epitaxial perovskite film can be used to finely tune the lattice symmetry by modifying the local distortions, i.e., octahedral bonding angle and length. Orthorhombic SrRuO3 films coherently grown on SrTiO3 substrates are used as a model system. Implanted He atoms are confirmed to induce out-of-plane strain, which provides the ability to controllably shift the bulk-like orthorhombically distorted phase to a tetragonal structure by shifting the oxygen octahedra rotation pattern. These results demonstrate that He implantation offers an entirely new pathway to strain engineering of perovskite-based complex oxide thin films, useful for creating new functionalities or properties in perovskite materials.

Force Maintenance Accuracy Using a Tool: Effects of Magnitude and Feedback.

The ability to precisely produce a force via a hand-held tool is crucial in fine manipulations. In this paper, we study the error in maintaining a target force ranging from 0.5 to 5N under two concurrent feedback conditions: pure haptic feedback (H), and visual plus haptic feedback (V + H). The results show that absolute error (AE) increases along with the increasing force magnitudes under both feedback conditions. For target forces ranging from 1.5 to 5N, the relative error (RE) is approximately constant under both feedback conditions, while the RE significantly increases for the small target forces of 0.5 and 1N. The effect of force magnitude on the coefficient of variation (CoV) is not significant for target forces ranging from 1.5 to 5N. For both the RE and the CoV, the values under the H condition are significantly larger than those under the V + H condition. The effect of manipulation mode (i.e., a hand-held tool or a fingertip) on force maintenance accuracy is complex, i.e., its effect on RE is not significant while its effect on CoV is significant. Only for the magnitude of 0.5N, the RE of using the tool was significantly greater than that of using the fingertip under both feedback conditions. For both the RE and the CoV, no interaction effect exists between manipulation mode, force magnitude and feedback condition.

做青工艺对蒸青茶品质的影响研究

目的：本研究通过结合乌龙茶和传统蒸青绿茶的加工工艺，开发出一种新型工艺——花香型蒸绿茶，能在保持绿茶特性的同时，提升茶叶香气，改善茶汤滋味。方法：本试验在原有研究基础上优化加工工艺为：摊青约2 h，晒青至积照50万Lux × min，“四摇四晾”做青，至青气散花香显叶色黄绿亮，再依次蒸青、去水、揉捻、烘干。此外，通过测定茶多酚、水浸出物含量和游离氨基酸，进行感官审评，对比做青工艺的影响。结果：花香型蒸青绿茶和传统蒸青绿茶相比，茶多酚含量产生1.82%降幅，水浸出物和游离氨基酸含量稍有降低；感官品质有明显提升，特别是在香气和滋味方面。结论：做青工艺一定程度上改变了传统夏秋绿茶的滋味苦涩，香气差的弊端。 Objective: In this study, by combining traditional processing technology of steaming green tea and oolong tea, a new technology was developed to make floral steamed green tea. This tea can maintain the properties of normal green tea while enhancing the aroma and taste. Methods: The processing technology was optimized: unrolling about 2 h, basking for 500,000 Lux × min, fine manipulating the fresh leaves by four times shaking and unrolling until the leaves lost green flavour and produced floral smell. Meanwhile, the color of leaves would be changed to olivine and bright, then steaming, rolling and drying. In addition, tea polyphenols, water soluble matter, free amino acids and sensory quality of traditional steamed green tea and floral steamed green tea were determined and compared. Results: Compared with traditional steamed green tea, tea polyphenols of floral steamed green tea decreased 1.82%, and water soluble matter and free amino acids decreased a little. The sensory quality was improved especially for taste and aroma. Conclusion: Fine manipulation improved the quality of summer green tea, both in taste and aroma.

Contribution of binocular vision to the performance of complex manipulation tasks in 5–13 years old visually-normal children

Individual studies have shown that visuomotor coordination and aspects of binocular vision, such as stereoacuity and dynamic vergence control, continue to improve in normally developing children between birth and early teenage years. However, no study has systematically addressed the relationship between the development of binocular vision and fine manipulation skills. Thus, the aim of this cross-sectional study was to characterize performance of complex manipulation tasks during binocular and monocular viewing. Fifty-two children, between 5 and 13years old, performed 2 manipulation tasks: peg-board and bead-threading under randomized viewing conditions. Results showed that binocular viewing was associated with a significantly greater improvement in performance on the bead-threading task in comparison to the peg-board task and the youngest children showed the greatest decrement in task performance under the monocular viewing condition when performing the bead-threading task. Thus, the role of binocular vision in performance of fine manipulation skills is both task- and age-dependent. These findings have implications for assessment of visuomotor skills in children with abnormal binocular vision, which occurs in 2–3% of otherwise typically developing children.

Distinct functional roles of primate grasping hands and feet during arboreal quadrupedal locomotion

It has long been thought that quadrupedal primates successfully occupy arboreal environments, in part, by relying on their grasping feet to control balance and propulsion, which frees their hands to test unstable branches and forage. If this interlimb decoupling of function is real, there should be discernible differences in forelimb versus hind limb musculoskeletal control, specifically in how manual and pedal digital flexor muscles are recruited to grasp during arboreal locomotion. New electromyography data from extrinsic flexor muscles in red ruffed lemurs (Varecia rubra) walking on a simulated arboreal substrate reveal that toe flexors are activated at relatively higher levels and for longer durations than finger flexors during stance phase. This demonstrates that the extremities of primates indeed have different functional roles during arboreal locomotion, with the feet emphasizing maintenance of secure grips. When this dichotomous muscle activity pattern between the forelimbs and hind limbs is coupled with other features of primate quadrupedal locomotion, including greater hind limb weight support and the use of diagonal-sequence footfall patterns, a complex suite of biomechanical characters emerges in primates that allow for the co-option of hands toward non-locomotor roles. Early selection for limb functional differentiation in primates probably aided the evolution of fine manipulation capabilities in the hands of bipedal humans.

The influence of M. P. Bryden's work on lateralization of motor skill: Is the preferred hand selected for and better at tasks requiring a high degree of skill?

ABSTRACTOne question of interest to Dr M. P. Bryden was how skilled motor behaviour, task complexity, and the degree of handedness are linked. His research suggested that there would be dissociation between hand preference and performance for skilled versus unskilled actions. The thought was that “simple” or unskilled tasks such reaching or grasping could be performed equally well by either hand, and thus either could be selected. Skilled tasks such as fine manipulation would be performed best by the preferred hand and thus it would be selected more frequently. Over the past two decades, researchers have attempted to determine whether such a definition of skilled action best encapsulates the specialization of the preferred hand. The current paper will review M. P. Bryden's research on skilled motor behaviour, as well as more recent work, and explore the question of whether the preferred hand is actually superior and preferred for actions requiring manipulation.

A Mini-review on the Applications of Cellulose-Binding Domains in Lignocellulosic Material Utilizations

This manuscript provides a mini review on the fundamentals of cellulose binding domains (CBDs) or cellulose binding modules (CBMs) and their applications using lignocellulosic materials. CBDs, the non-productive part of cellulases, have miscellaneous biological functions and have been widely applied in lignocellulose hydrolysis, protein engineering, structural support, metabolism, energy storage, antibiosis, immunological recognition, targeting, attachment, etc. due to their specific affinity to various substrates of lignocelluloses. Understanding of the properties and mechanisms of CBDs is of vital significance because it provides the basis for fine manipulation of cellulose-CBM interactions and eventually improves the bioconversion performance of lignocelluloses into fuels and desired chemicals. In this short review, the fundamentals of CBD, the definition of CBM family, and the structures of different CBM families are introduced. Then recent findings in the applications of CBDs are discussed relative to the lignocelllulosic utilizations.

Experiments of fine manipulation tasks with dexterous robotic hands

In this paper, the experimental evaluation of fine manipulation tasks executed by the DEXMART Hand is presented. The robotic hand is characterized by a compliant actuation system and soft contact interfaces. The manipulation is controlled by feedback information acquired by optoelectronic tactile sensors integrated into the fingertips of the robotic hand. An impedance-like control scheme has been implemented to allow the simultaneous control of the finger positions and contact forces, thus preventing position drift caused by asymmetric force measurement between different sensors. This approach allows also to decouple the control of the normal force applied to the object to prevent slip from the control of the tangential forces applied to the object surface to perform manipulation. Moreover, the evaluation of manipulation tasks of soft objects with variable weight is presented to show the ability of the system to hold the object by applying the minimum required normal force to prevent slip. The performance evaluation has been carried out by considering fine manipulation tasks executed with a simplified setup composed by two opposed fingers, and manipulation tasks of various objects involving the whole DEXMART Hand are presented, as a demonstration of the device capabilities.

Magnetostriction-induced in situ strain control of superconductivity in FeSe0.5Te0.5

In the superconductor of FeSe0.5Te0.5, the superconductivity is highly sensitive to variations of microstructure. Therefore, a fine manipulation of the microstructures will be crucial not only for a better understanding of the superconductivity but also for potential applications. Here, we demonstrate an approach to control the superconductivity in-situ by using a magnetostrictive substrate ZnCr2Se4 as the strain generator. By mounting an FeSe0.5Te0.5 single crystal onto a magnetostrictive substrate, we show that the magnetoresistance of FeSe0.5Te0.5 is directly coupled to the magnetostriction of ZnCr2Se4. The strain is fine-tuned in-situ by an external magnetic field, leading to the superconductivity of FeSe0.5Te0.5 correspondingly favored by compressive strain while suppressed by tensile strain.

Finger contact sensing and the application in dexterous hand manipulation

In this paper we introduce a novel contact-sensing algorithm for a robotic fingertip which is equipped with a 6-axis force/torque sensor and covered with a deformable rubber skin. The design and the sensing algorithm of the fingertip for effective contact information identification are introduced. Validation tests show that the contact sensing fingertip can estimate contact information, including the contact location on the fingertip, the direction and the magnitude of the friction and normal forces, the local torque generated at the surface, at high speed (158---242 Hz) and with high precision. Experiments show that the proposed algorithm is robust and accurate when the friction coefficient $$\le $$≤1. Obtaining such contact information in real-time are essential for fine object manipulation. Using the contact sensing fingertip for surface exploration has been demonstrated, indicating the advantage gained by using the identified contact information from the proposed contact-sensing method.

Manual lateralization in infancy.

Most people are right-handed and left-cerebrally dominant for language and this brain dissymmetry has been based on “which” type of information each hemisphere controls (Corballis, 2012): In general terms, the left hemisphere (LH) is usually specialized in auditory information, specially linguistic stimuli, whereas the right hemisphere (RH) would be specialized in visuo-spatial information. In another approach, brain dissymmetry depends on “how” each hemisphere processes information: While the RH would process the visual spatial data in a more global, simultaneous and holistic way, the LH would process the linguistic data in a more analytic, sequential and serial manner. Here we will focus on the haptic modality because it has a different status from the visual and auditory modalities, which makes of it a special case that can shed light on the origins of manual laterality. In fact, the arm-hand system fulfills both a perceptual function by gathering information on objects, and an instrumental function by transporting objects in space (Hatwell, 1983). Moreover, one of the particularities of the haptic modality during the fine manipulation of objects is that it involves a perceptual-motor coupling difficult to dissociate. Since the arm-hand system is specialized in the treatment of spatial information like the visual modality, the RH should play a dominant role. Because this is a contact modality, in which the hand processes spatial information sequentially like the auditory modality, it would be the LH that should intervene in this function. Notwithstanding the difficulty of disentangling the perceptual and motor aspects from one another, we argue that thanks to the methodological tools used in infancy it is possible to dissociate them. In fact, when holding an object, infants are evaluated in their motor aspects (holding time, strength of the grasp, etc.), while when infants are habituated to an object and then tested on the recognition of its properties, it is the perceptual-cognitive aspects that are revealed with this procedure. Therefore, we assume that the process of lateralization manifests itself in a clear way both from the perception as from the motor function of the hands. We will review and discuss the literature on the motor aspects of manual asymmetries, and will focus on the methodological importance in order to disclose the perceptual aspects of these asymmetries. Finally, we discuss the manual perceptual asymmetries, and the findings and implications in the context of hemispheric specialization.

0309 20kHz帯超音波を用いた新規粒子分級手法の開発

Ultrasound techniques are applied in various fields such as washing, fine particle manipulation and solid-liquid separation. In the fine particle manipulation, ultrasonic ranging in MHz band is usually employed. Fine particles with μm order in diameter are treated because of limitations of the wavelength. In contrast, we discovered phenomena that mm-order particles dispersed in water are flocculated spherically by irradiating 20-kHz-band-ultrasound. In order to clarify the mechanism of this flocculation, we investigated the sound pressure profiles in the vessel, and the positions and diameters of the flocculated particle swarm, varying the water depth, ultrasound frequency and particle diameter. From these results, the particle swarm was trapped in the anti-node of the standing wave. The diameter of the particle swarm was dramatically changed by subtle control of the frequency. Based on these results, we will propose a new technique capturing and separating sub mm- or mm-order particles by their diameter.

パルスウォータージェットメスを用いた精密手術用治療器

パルスウォータージェットメスを用いた精密手術用治療器

High-resolution liquid patterns via three-dimensional droplet shape control.

Understanding liquid dynamics on surfaces can provide insight into nature's design and enable fine manipulation capability in biological, manufacturing, microfluidic and thermal management applications. Of particular interest is the ability to control the shape of the droplet contact area on the surface, which is typically circular on a smooth homogeneous surface. Here, we show the ability to tailor various droplet contact area shapes ranging from squares, rectangles, hexagons, octagons, to dodecagons via the design of the structure or chemical heterogeneity on the surface. We simultaneously obtain the necessary physical insights to develop a universal model for the three-dimensional droplet shape by characterizing the droplet side and top profiles. Furthermore, arrays of droplets with controlled shapes and high spatial resolution can be achieved using this approach. This liquid-based patterning strategy promises low-cost fabrication of integrated circuits, conductive patterns and bio-microarrays for high-density information storage and miniaturized biochips and biosensors, among others.

β-amyloid induces a dying-back process and remote trans-synaptic alterations in a microfluidic-based reconstructed neuronal network.

IntroductionRecent histopathological studies have shown that neurodegenerative processes in Alzheimer’s and Parkinson’s Disease develop along neuronal networks and that hallmarks could propagate trans-synaptically through neuronal pathways. The underlying molecular mechanisms are still unknown, and investigations have been impeded by the complexity of brain connectivity and the need for experimental models allowing a fine manipulation of the local microenvironment at the subcellular level.ResultsIn this study, we have grown primary cortical mouse neurons in microfluidic (μFD) devices to separate soma from axonal projections in fluidically isolated microenvironments, and applied β-amyloid (Aβ) peptides locally to the different cellular compartments. We observed that Aβ application to the somato-dendritic compartment triggers a “dying-back” process, involving caspase and NAD+ signalling pathways, whereas exposure of the axonal/distal compartment to Aβ deposits did not induce axonal degeneration. In contrast, co-treatment with somatic sub-toxic glutamate and axonal Aβ peptide triggered axonal degeneration. To study the consequences of such subcellular/local Aβ stress at the network level we developed new μFD multi-chamber devices containing funnel-shaped micro-channels which force unidirectional axon growth and used them to recreate in vitro an oriented cortico-hippocampal pathway. Aβ application to the cortical somato-dendritic chamber leads to a rapid cortical pre-synaptic loss. This happens concomitantly with a post-synaptic hippocampal tau-phosphorylation which could be prevented by the NMDA-receptor antagonist, MK-801, before any sign of axonal and somato-dendritic cortical alteration.ConclusionThanks to μFD-based reconstructed neuronal networks we evaluated the distant effects of local Aβ stress on neuronal subcompartments and networks. Our data indicates that distant neurotransmission modifications actively take part in the early steps of the abnormal mechanisms leading to pathology progression independently of local Aβ production. This offers new tools to decipher mechanisms underlying Braak's staging. Our data suggests that local Aβ can play a role in remote tauopathy by distant disturbance of neurotransmission, providing a putative mechanism underlying the spatiotemporal appearance of pretangles.Electronic supplementary materialThe online version of this article (doi:10.1186/s40478-014-0145-3) contains supplementary material, which is available to authorized users.

ANÁLISE DO DESENVOLVIMENTO MOTOR E QUALIDADE DO AMBIENTE DOMICILIAR DE CRIANÇAS PRÉ-ESCOLARES

Objective – The aim of this study was to analyze the motor development and quality of the household environment of children. Methods – This is a descriptive and quantitative study, conducted with 44 children between 18-42 months of private educational institutions for children in the Central Santa Maria, RS. Affordance in the Home Environment for Motor Development - Self Report and Peabody Developmental Motor Scales-2 were used to evaluate the household environment and motor development. Results – The main age was 31.6 months, 59.09% were female and 40.91% male, 50% live in apartment, 72.72% of households provide sufficient opportunities for motor development. The sub-tests that showed the best and worst motor performance were: fine manipulation and locomotion. Regarding the Total Motor Quotient, 63.64% are children with an average score. Conclusion – The motor development of most of the children lies within the normal range for chronological age, the residences allow reasonable opportunities for motor development.

General Strategy for Fine Manipulating Crystal Growth of Water-Soluble Salts

In this work, a general strategy was proposed for fine manipulating intrinsic growth of water-soluble salts belonging to different crystal systems. Various hollow microsphere hierarchical architectures assembled with hopperlike single crystal blocks of cubic KBr, orthorhombic (NH4)2SO4, or hexagonal Na2SO3 have been designed and prepared via microemulsions. Intrinsic growth manipulations of different water-soluble salts has been successfully achieved by preventing growth of the outside surface of each single crystal block via a diffusion-limit effect of the interfaces between the oil phase and aqueous droplets. As a result, hopperlike single crystals of water-soluble salts belonging to different crystal systems were formed. Furthermore, octahedral NaCl hopperlike single crystal, rather than their typical cubic shape, has also been fabricated by manipulating their growth rates along different lattice directions in combination with urea as additives. The large amount of fine manipulation of intrinsic growth...