ABSTRACT
Some robotic localization methods, such as ultra wideband localization and lighthouse localization, require external localization infrastructure in order to operate. However, there are situations where this localization infrastructure does not exist in the field, such as robotic exploration tasks. Deploying low power wireless sensor networks (WSNs) as localization infrastructure can potentially solve this problem. In this work, we demonstrate the use of an OpenWSN network of miniaturized low power sensor nodes as localization infrastructure. We demonstrate a quadrotor performing laser-based relative bearing measurements of stationary wireless sensor nodes with known locations and using these measurements to localize itself. These laser-based measurements require little computation on the WSN nodes, and are compatible with state-of-the-art 2 mm × 3 mm monolithic wireless system-on-chips (SoCs). These capabilities were demonstrated on a Crazyflie quadcopter using an Extended Kalman Filter and a network of motes running the OpenWSN wireless sensor network stack. The RMS error for X positioning was 0.57 m and the error for Y positioning was 0.39 m. This is the first use of an OpenWSN sensor network to support robotic localization. Furthermore, simulations show that these same measurements could be used for localizing sensor motes with unknown locations in the future.
ABSTRACT
Previous studies have shown greater fluorophore uptake during electroporation on the anode-facing side of the cell than on the cathode-facing side. Based on these observations, we hypothesized that hyperpolarizing a cell before electroporation would decrease the requisite pulsed electric field intensity for electroporation outcomes, thereby yielding a higher probability of reversible electroporation at lower electric field strengths and a higher probability of irreversible electroporation (IRE) at higher electric field strengths. In this study, we tested this hypothesis by hyperpolarizing HL-60 cells using ionomycin before electroporation. These cells were then electroporated in a solution containing propidium iodide, a membrane integrity indicator. After 20 min, we added trypan blue to identify IRE cells. Our results showed that hyperpolarizing cells before electroporation alters the pulsed electric field intensity thresholds for reversible electroporation and IRE, allowing for greater control and selectivity of electroporation outcomes.
