Developing sensorized arm skin for an octopus inspired robot

Soft skin artefacts made of knitted nylon reinforced silicon rubber were fabricated mimicking octopus skin. A combination of ecoflex 0030 and 0010 were used as matrix of the composite to obtain the right stiffness for the skin artefacts. Material properties were characterised using static uniaxial tension and scissors cutting tests. Two types of tactile sensors were developed to detect normal contact; one used quantum tunnelling composite materials and the second was fabricated from silicone rubber and a conductive textile. Sensitivities of the sensors were tested by applying different modes of loading and the soft sensors were incorporated into the skin prototype. Passive suckers were developed and tested against squid suckers. An integrated skin prototype with embedded deformable sensors and attached suckers developed for the arm of an octopus inspired robot is also presented.

Modular non-computational-connectionist-hybrid neural network approach to robotic systems

Spiking neural networks are usually limited in their applications due to their complex mathematical models and the lack of intuitive learning algorithms. In this paper, a simpler, novel neural network derived from a leaky integrate and fire neuron model, the ‘cavalcade’ neuron, is presented. A simulation for the neural network has been developed and two basic learning algorithms implemented within the environment. These algorithms successfully learn some basic temporal and instantaneous problems. Inspiration for neural network structures from these experiments are then taken and applied to process sensor information so as to successfully control a mobile robot.

Evaluation of reach and grasp robot-assisted therapy suggests similar functional recovery patterns on proximal and distal arm segments in sub-acute hemiplegia

This paper provides some additional evidence in support of the hypothesis that robot therapies are clinically beneficial in neurorehabilitation. Although only 4 subjects were included in the study, the design of the intervention and the measures were done so as to minimise bias. The results are presented as single case studies, and can only be interpreted as such due to the study size. The intensity of intervention was 16 hours and the therapy philosophy (based on Carr and Shepherd) was that coordinated movements are preferable to joint based therapies, and that coordinating distal movements (in this case grasps) helps not only to recover function in these areas, but has greater value since the results are immediately transferable to daily skills such as reach and grasp movements.

Ciprofibrate quantification in human plasma by high-performance liquid chromatography coupled with electrospray tandem mass spectrometry for pharmacokinetic studies

A rapid, sensitive and specific method for quantifying ciprofibrate in human plasma using bezafibrate as the internal standard (IS) is described. The sample was acidified prior extraction with formic acid (88%). The analyte and the IS were extracted from plasma by liquid-liquid extraction using an organic solvent (diethyl ether/dichloromethane 70/30 (v/v)). The extracts were analyzed by high performance liquid chromatography coupled with electrospray tandem mass spectrometry (HPLC-MS/MS). Chromatography was performed using Genesis C18 4 mu m analytical column (4.6 x 150 mm i.d.) and a mobile phase consisting of acetonitrile/water (70/30, v/v) and 1 mM acetic acid. The method had a chromatographic run time of 3.4 min and a linear calibration curve over the range 0.1-60 mu g/mL (r > 0.99). The limit of quantification was 0.1 mu g/mL. The intra- and interday accuracy and precision values of the assay were less than 13.5%. The stability tests indicated no significant degradation. The recovery of ciprofibrate was 81.2%, 73.3% and 76.2% for the 0.3, 5.0 and 48.0 ng/mL standard concentrations, respectively. For ciprofibrate, the optimized parameters of the declustering potential, collision energy and collision exit potential were -51 V, -16 eV and -5 V, respectively. The method was also validated without the use of the internal standard. This HPLC-MS/MS procedure was used to assess the bioequivalence of two ciprofibrate 100 mg tablet formulations in healthy volunteers of both sexes. The following pharmacokinetic parameters were obtained from the ciprofibrate plasma concentration vs. time curves: AUC(last), AUC(0-168 h), C(max) and T(max). The geometric mean with corresponding 90% confidence interval (CI) for test/reference percent ratios were 93.80% (90% CI = 88.16-99.79%) for C(max), 98.31% (90% CI = 94.91-101.83%) for AUC(last) and 97.67% (90% CI = 94.45-101.01%) for AUC(0-168 h). Since the 90% Cl for AUC(last), AUC(0-168 h) and C(max) ratios were within the 80-125% interval proposed by the US FDA, it was concluded that ciprofibrate (Lipless (R) 100 mg tablet) formulation manufactured by Biolab Sanus Farmaceutica Ltda. is bioequivalent to the Oroxadin (R) (100 mg tablet) formulation for both the rate and the extent of absorption. (C) 2011 Published by Elsevier B.V.

Semantic mapping using mobile robots

Robotic mapping is the process of automatically constructing an environment representation using mobile robots. We address the problem of semantic mapping, which consists of using mobile robots to create maps that represent not only metric occupancy but also other properties of the environment. Specifically, we develop techniques to build maps that represent activity and navigability of the environment. Our approach to semantic mapping is to combine machine learning techniques with standard mapping algorithms. Supervised learning methods are used to automatically associate properties of space to the desired classification patterns. We present two methods, the first based on hidden Markov models and the second on support vector machines. Both approaches have been tested and experimentally validated in two problem domains: terrain mapping and activity-based mapping.

A survey of control architectures for autonomous mobile robots

MEDEIROS, Adelardo A. D.A survey of control architectures for autonomous mobile robots. J. Braz. Comp. Soc., Campinas, v. 4, n. 3, abr. 1998 .Disponível em: Acesso: 27 set. 2010.

TORP: The Open Robot Project A Framework for Module-Based Robots

The development of robots has shown itself as a very complex interdisciplinary research field. The predominant procedure for these developments in the last decades is based on the assumption that each robot is a fully personalized project, with the direct embedding of hardware and software technologies in robot parts with no level of abstraction. Although this methodology has brought countless benefits to the robotics research, on the other hand, it has imposed major drawbacks: (i) the difficulty to reuse hardware and software parts in new robots or new versions; (ii) the difficulty to compare performance of different robots parts; and (iii) the difficulty to adapt development needs-in hardware and software levels-to local groups expertise. Large advances might be reached, for example, if physical parts of a robot could be reused in a different robot constructed with other technologies by other researcher or group. This paper proposes a framework for robots, TORP (The Open Robot Project), that aims to put forward a standardization in all dimensions (electrical, mechanical and computational) of a robot shared development model. This architecture is based on the dissociation between the robot and its parts, and between the robot parts and their technologies. In this paper, the first specification for a TORP family and the first humanoid robot constructed following the TORP specification set are presented, as well as the advances proposed for their improvement.

HIV, EBV and KSHV: Viral cooperation in the pathogenesis of human malignancies

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Voltammetric sensor for amoxicillin determination in human urine using polyglutamic acid/glutaraldehyde film

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Development of a potentiometric mefenamate ion sensor for the determination of mefenamic acid in pharmaceuticals and human blood serum

The characteristics, performance, and application of a novel and simple electrode, namely Pt vertical bar Hg vertical bar Hg-2(MF)(2)vertical bar Graphite, where MF stands for mefenamate ion, are described. This electrode responds to MF with sensitivity of (58.9 +/- 0.7) mV decade(-1) over the range 1.0 x 10(-6) to 1.0 x 10(-2) mol L-1 at pH 6.0-9.0 and a detection limit of 6.2 x 10(-7) mol L-1. The electrode is easily constructed at a relatively low cost with fast response time (within 10-25 s) and can be used for a period of 4 months without significant change in its performance characteristics. The proposed sensor displayed good selectivity for mefenamate in the presence of several substances, especially concerning carboxylate and inorganic anions. The potentiometric sensor was successfully applied to the determination of mefenamic acid in pharmaceuticals and human serum samples. (c) 2007 Elsevier B.V. All rights reserved.

Autonomous mobile robots designing for the medical trash collector task

This paper describes the UNESP robotic team in the medical trash collector task, proposed on the 5 rd IEEE Latin American Robots Competition in the LEGO category. We present our understanding of the task and discuss the proposed solution, focusing on the mechanical and computational issues of the robots. The mechanics is based on rigid body capability of transforming rotational into curvilinear movement. With respect to the computational control, the system is modeled as a reactive system with sequential transition of behaviors. A state-machine is proposed to allow this transition, and the synchronization of robotic states is guaranteed by the communication system. The proposed approach has shown itself capable of dealing with the high difficulty degree of this cooperative task. ©2006 IEEE.

Conception of wheeled mobile robots with reconfigurable control using integrate prototyping

With the fast innovation of the hardware and software technologies using rapid prototyping devices, with application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This paper presents a conception of mobile robots using rapid prototyping, distributing the several control actions in growing levels of complexity and using resources of reconfigurable computing proposal oriented to embed systems implementation. Software and the hardware are structuralized in independents blocks, with connection through common bus. The study and applications of new structures control that permits good performance in relation to the parameter variations. This kind of controller can be tested on different platform representing the wheeled mobile robots using reprogrammable logic components (FPGA). © 2006 IEEE.

Environment mapping for mobile robots navigation using hierarchical neural network and omnivision

Autonomous robots must be able to learn and maintain models of their environments. In this context, the present work considers techniques for the classification and extraction of features from images in joined with artificial neural networks in order to use them in the system of mapping and localization of the mobile robot of Laboratory of Automation and Evolutive Computer (LACE). To do this, the robot uses a sensorial system composed for ultrasound sensors and a catadioptric vision system formed by a camera and a conical mirror. The mapping system is composed by three modules. Two of them will be presented in this paper: the classifier and the characterizer module. The first module uses a hierarchical neural network to do the classification; the second uses techiniques of extraction of attributes of images and recognition of invariant patterns extracted from the places images set. The neural network of the classifier module is structured in two layers, reason and intuition, and is trained to classify each place explored for the robot amongst four predefine classes. The final result of the exploration is the construction of a topological map of the explored environment. Results gotten through the simulation of the both modules of the mapping system will be presented in this paper. © 2008 IEEE.

Fast robot voice interface through optimum-path forest

Voice-based user interfaces have been actively pursued aiming to help individuals with motor impairments, providing natural interfaces to communicate with machines. In this work, we have introduced a recent machine learning technique named Optimum-Path Forest (OPF) for voice-based robot interface, which has been demonstrated to be similar to the state-of-the-art pattern recognition techniques, but much faster. Experiments were conducted against Support Vector Machines, Neural Networks and a Bayesian classifier to show the OPF robustness. The proposed architecture provides high accuracy rates allied with low computational times. © 2012 IEEE.