Browse
Submit Data
Databases
API
Help

Dataset Information

10 Views

0 Connections

0 Citations

0 Reanalyses

0 Downloads

Omics score: 0

Human-manipulator interface using particle filter.

ABSTRACT: This paper utilizes a human-robot interface system which incorporates particle filter (PF) and adaptive multispace transformation (AMT) to track the pose of the human hand for controlling the robot manipulator. This system employs a 3D camera (Kinect) to determine the orientation and the translation of the human hand. We use Camshift algorithm to track the hand. PF is used to estimate the translation of the human hand. Although a PF is used for estimating the translation, the translation error increases in a short period of time when the sensors fail to detect the hand motion. Therefore, a methodology to correct the translation error is required. What is more, to be subject to the perceptive limitations and the motor limitations, human operator is hard to carry out the high precision operation. This paper proposes an adaptive multispace transformation (AMT) method to assist the operator to improve the accuracy and reliability in determining the pose of the robot. The human-robot interface system was experimentally tested in a lab environment, and the results indicate that such a system can successfully control a robot manipulator.

SUBMITTER: Du G

PROVIDER: S-EPMC3976865 | biostudies-other | 2014

REPOSITORIES: biostudies-other

ACCESS DATA

Json Xml

Similar Datasets

Particle Filter Based Monitoring and Prediction of Spatiotemporal Corrosion Using Successive Measurements of Structural Responses.

Project description:Prediction of structural deterioration is a challenging task due to various uncertainties and temporal changes in the environmental conditions, measurement noises as well as errors of mathematical models used for predicting the deterioration progress. Monitoring of deterioration progress is also challenging even with successive measurements, especially when only indirect measurements such as structural responses are available. Recent developments of Bayesian filters and Bayesian inversion methods make it possible to address these challenges through probabilistic assimilation of successive measurement data and deterioration progress models. To this end, this paper proposes a new framework to monitor and predict the spatiotemporal progress of structural deterioration using successive, indirect and noisy measurements. The framework adopts particle filter for the purpose of real-time monitoring and prediction of corrosion states and probabilistic inference of uncertain and/or time-varying parameters in the corrosion progress model. In order to infer deterioration states from sparse indirect inspection data, for example structural responses at sensor locations, a Bayesian inversion method is integrated with the particle filter. The dimension of a continuous domain is reduced by the use of basis functions of truncated Karhunen-Loève expansion. The proposed framework is demonstrated and successfully tested by numerical experiments of reinforcement bar and steel plates subject to corrosion.

| S-EPMC6263897 | biostudies-other

Particle movements provoke avalanche-like compaction in soft colloid filter cakes.

Project description:During soft matter filtration, colloids accumulate in a compressible porous cake layer on top of the membrane surface. The void size between the colloids predominantly defines the cake-specific permeation resistance and the corresponding filtration efficiency. While higher fluxes are beneficial for the process efficiency, they compress the cake and increase permeation resistance. However, it is not fully understood how soft particles behave during cake formation and how their compression influences the overall cake properties. This study visualizes the formation and compression process of soft filter cakes in microfluidic model systems. During cake formation, we analyze single-particle movements inside the filter cake voids and how they interact with the whole filter cake morphology. During cake compression, we visualize reversible and irreversible compression and distinguish the two phenomena. Finally, we confirm the compression phenomena by modeling the soft particle filter cake using a CFD-DEM approach. The results underline the importance of considering the compression history when describing the filter cake morphology and its related properties. Thus, this study links single colloid movements and filter cake compression to the overall cake behavior and narrows the gap between single colloid events and the filtration process.

| S-EPMC8213765 | biostudies-literature

Interface Engineering to Create a Strong Spin Filter Contact to Silicon.

Project description:Integrating epitaxial and ferromagnetic Europium Oxide (EuO) directly on silicon is a perfect route to enrich silicon nanotechnology with spin filter functionality. To date, the inherent chemical reactivity between EuO and Si has prevented a heteroepitaxial integration without significant contaminations of the interface with Eu silicides and Si oxides. We present a solution to this long-standing problem by applying two complementary passivation techniques for the reactive EuO/Si interface: (i) an in situ hydrogen-Si (001) passivation and (ii) the application of oxygen-protective Eu monolayers-without using any additional buffer layers. By careful chemical depth profiling of the oxide-semiconductor interface via hard x-ray photoemission spectroscopy, we show how to systematically minimize both Eu silicide and Si oxide formation to the sub-monolayer regime-and how to ultimately interface-engineer chemically clean, heteroepitaxial and ferromagnetic EuO/Si (001) in order to create a strong spin filter contact to silicon.

| S-EPMC4791633 | biostudies-literature

Filter feeders and plankton increase particle encounter rates through flow regime control.

Project description:Collisions between particles or between particles and other objects are fundamental to many processes that we take for granted. They drive the functioning of aquatic ecosystems, the onset of rain and snow precipitation, and the manufacture of pharmaceuticals, powders and crystals. Here, I show that the traditional assumption that viscosity dominates these situations leads to consistent and large-scale underestimation of encounter rates between particles and of deposition rates on surfaces. Numerical simulations reveal that the encounter rate is Reynolds number dependent and that encounter efficiencies are consistent with the sparse experimental data. This extension of aerosol theory has great implications for understanding of selection pressure on the physiology and ecology of organisms, for example filter feeders able to gather food at rates up to 5 times higher than expected. I provide evidence that filter feeders have been strongly selected to take advantage of this flow regime and show that both the predicted peak concentration and the steady-state concentrations of plankton during blooms are approximately 33% of that predicted by the current models of particle encounter. Many ecological and industrial processes may be operating at substantially greater rates than currently assumed.

| S-EPMC2683099 | biostudies-literature

Characterization of the SRP68/72 interface of human signal recognition particle by systematic site-directed mutagenesis.

Project description:The signal recognition particle (SRP) is a ribonucleoprotein complex which is crucial for the delivery of proteins to cellular membranes. Among the six proteins of the eukaryotic SRP, the two largest, SRP68 and SRP72, form a stable SRP68/72 heterodimer of unknown structure which is required for SRP function. Fragments 68e' (residues 530 to 620) and 72b' (residues 1 to 166) participate in the SRP68/72 interface. Both polypeptides were expressed in Escherichia coli and assembled into a complex which was stable at high ionic strength. Disruption of 68e'/72b' and SRP68/72 was achieved by denaturation using moderate concentrations of urea. The four predicted tetratricopeptide repeats (TPR1 to TPR4) of 72b' were required for stable binding of 68e'. Site-directed mutagenesis suggested that they provide the structural framework for the binding of SRP68. Deleting the region between TPR3 and TPR4 (h120) also prevented the formation of a heterodimer, but this predicted alpha-helical region appeared to engage several of its amino acid residues directly at the interface with 68e'. A 39-residue polypeptide (68h, residues 570-605), rich in prolines and containing an invariant aspartic residue at position 585, was found to be active. Mutagenesis scanning of the central region of 68h demonstrated that D585 was solely responsible for the formation of the heterodimer. Coexpression experiments suggested that 72b' protects 68h from proteolytic digestion consistent with the assertion that 68h is accommodated inside a groove formed by the superhelically arranged four TPRs of the N-terminal region of SRP72.

| S-EPMC2786981 | biostudies-literature

Capillary Torque on a Particle Rotating at an Interface.

Project description:Small particles attach to liquid-fluid interfaces due to capillary forces. The influence of rotation on the capillary force is largely unexplored, despite being relevant whenever particles roll at a liquid-fluid interface or on a moist solid. Here, we demonstrate that due to contact angle hysteresis, a particle needs to overcome a resistive capillary torque to rotate at an interface. We derive a general model for the capillary torque on a spherical particle. The capillary torque is given by M = γRLk(cos ΘR - cos ΘA), where γ is the interfacial tension, R is the radius of the particle, L is the diameter of the contact line, k = 24/π3 is a geometrical constant, and ΘR and ΘA are the receding and advancing contact angles, respectively. The expression for the capillary torque (normalized by the radius of the particle) is equivalent to the expression for the friction force that a drop experiences when moving on a flat surface. Our theory predicts that capillary torque reduces the mobility of wet granular matter and prevents small (nano/micro) particles from rotating when they are in Brownian motion at an interface.

| S-EPMC8280771 | biostudies-literature

Aggregate Removal Nanofiltration of Human Serum Albumin Solution Using Nanocellulose-Based Filter Paper.

Project description:This study is dedicated to the rapid removal of protein aggregates and viruses from plasma-derived human serum albumin (HSA) product to reduce the risk of viral contamination and increase biosafety. A two-step filtration approach was implemented to first remove HSA aggregates and then achieve high model virus clearance using a nanocellulose-based filter paper of different thicknesses, i.e., 11 μm (prefilter) and 22 μm (virus filter) at pH 7.4 and room temperature. The pore size distribution of these filters was characterized by nitrogen gas sorption analysis. Dynamic light scattering (DLS) and size-exclusion high performance liquid chromatography (SE-HPLC) were performed to analyze the presence of HSA aggregates in process intermediates. The virus filter showed high clearance of a small-size model virus, i.e., log10 reduction value (LRV) > 5, when operated at 3 and 5 bar, but a distinct decrease in LRV was detected at 1 bar, i.e., LRV 2.65-3.75. The throughput of HSA was also dependent on applied transmembrane pressure as was seen by Vmax values of 110 ± 2.5 L m-2 and 63.6 ± 5.8 L m-2 at 3 bar and 5 bar, respectively. Protein loss was low, i.e., recovery > 90%. A distribution of pore sizes between 40 nm and 60 nm, which was present in the prefilter and absent in the virus filter, played a crucial part in removing the HSA aggregates and minimizing the risk of virus filter fouling. The presented results enable the application of virus removal nanofiltration of HSA in bioprocessing as an alternative to virus inactivation methods based, e.g., on heat treatment.

| S-EPMC7400174 | biostudies-literature

High-performance particulate matter including nanoscale particle removal by a self-powered air filter.

Project description:Particulate matter (PM) pollutants, including nanoscale particles (NPs), have been considered serious threats to public health. In this work, a self-powered air filter that can be used in high-efficiency removal of PM, including NPs, is presented. An ionic liquid-polymer (ILP) composite is irregularly distributed onto a sponge network to form an ILP@MF filter. Enabled by its unique electrochemical properties, the ILP@MF filter can remove PM2.5 and PM10 with high efficiencies of 99.59% and 99.75%, respectively, after applying a low voltage. More importantly, the charged ILP@MF filter realizes a superior removal for NPs with an efficiency of 93.77%. A micro-button lithium cell or silicon-based solar panel is employed as a power supply platform to fabricate a portable and self-powered face mask, which exhibits excellent efficacy in particulate removal compared to commercial masks. This work shows a great promise for high-performance purification devices and facile mask production to remove particulate pollutants.

| S-EPMC7125120 | biostudies-literature

Understanding the adsorption interface of polyelectrolyte coating on redox active nanoparticles using soft particle electrokinetics and its biological activity.

Project description:The application of cerium oxide nanoparticles (CNPs) for therapeutic purposes requires a stable dispersion of nanoparticles in a biological environment. The objective of this study is to tailor the properties of polyelectrolyte coated CNPs as a function of molecular weight to achieve a stable and catalytic active dispersion. The coating of CNPs with polyacrylic acid (PAA) has increased the dispersion stability of CNPs and enhanced the catalytic ability. The stability of PAA coating was analyzed using the change in the Gibbs free energy computed by the Langmuir adsorption model. The adsorption isotherms were determined using soft particle electrokinetics which overcomes the challenges presented by other techniques. The change in Gibbs free energy was highest for CNPs coated with PAA of 250 kg/mol indicating the most stable coating. The change in free energy for PAA of 100 kg/mol coated CNPs was 85% lower than the PAA of 250 kg/mol coated CNPs. This significant difference is caused by the strong adsorption of PAA of 100 kg/mol on CNPs. Catalytic activity of PAA-CNPs is assessed by the catalase enzymatic mimetic activity of nanoparticles. The catalase activity was higher for PAA coated CNPs as compared to bare CNPs which indicated preferential adsorption of hydrogen peroxide induced by coating. This indicates that the catalase activity is also affected by the structure of the coating layer.

| S-EPMC4004264 | biostudies-literature

Three-Dimensional Analysis of Particle Distribution on Filter Layers inside N95 Respirators by Deep Learning.

Project description:The global COVID-19 pandemic has changed many aspects of daily lives. Wearing personal protective equipment, especially respirators (face masks), has become common for both the public and medical professionals, proving to be effective in preventing spread of the virus. Nevertheless, a detailed understanding of respirator filtration-layer internal structures and their physical configurations is lacking. Here, we report three-dimensional (3D) internal analysis of N95 filtration layers via X-ray tomography. Using deep learning methods, we uncover how the distribution and diameters of fibers within these layers directly affect contaminant particle filtration. The average porosity of the filter layers is found to be 89.1%. Contaminants are more efficiently captured by denser fiber regions, with fibers <1.8 ?m in diameter being particularly effective, presumably because of the stronger electric field gradient on smaller diameter fibers. This study provides critical information for further development of N95-type respirators that combine high efficiency with good breathability.

| S-EPMC7737533 | biostudies-literature

OmicsDI is part of the ELIXIR infrastructure

OmicsDI is an Elixir interoperability service. Learn more ›

OmicsDI Databases

PRIDE
PeptideAtlas
MassIVE
JPOST Repository
Physiome Model Repository

EGA
EVA
ENA
LINCS
PAXDB
Cell Collective

MetaboLights
Metabolomics Workbench
MetabolomeExpress
GNPS
BioModels
FAIRDOMHub

ArrayExpress
dbGaP
ExpressionAtlas
GEO
NODE

Information

Databases
Help
API
Contact us
Code on GitHub
Terms of use
Submit Data