Optical Lace for Synthetic Afferent Neural Networks.

While vision dominates sensing in robots, animals with limited vision deftly navigate their environment using other forms of perception such as touch. Efforts have been made to apply artificial skins with tactile sensing to robots for similarly sophisticated mobile and manipulative skills. The ability to functionally mimic the afferent sensory neural network, required for distributed sensing and communication networks throughout the body is still missing. This limitation is partially due to the lack of cointegration of the mechanosensors in the body of the robot. In this paper, lacings of stretchable optical fibers distributed throughout 3D printed elastomer frameworks create a cointegrated body, sensing, and communication network. This soft, functional structure can localize deformation with sub-millimeter positional accuracy (Err = 0.71 mm), and sub-Newton force resolution (~0.3 N).

Soft optoelectronic sensory foams with proprioception.

In a step toward soft robot proprioception, and therefore better control, this paper presents an internally illuminated elastomer foam that has been trained to detect its own deformation through machine learning techniques. Optical fibers transmitted light into the foam and simultaneously received diffuse waves from internal reflection. The diffuse reflected light was interpreted by machine learning techniques to predict whether the foam was twisted clockwise, twisted counterclockwise, bent up, or bent down. Machine learning techniques were also used to predict the magnitude of the deformation type. On new data points, the model predicted the type of deformation with 100% accuracy and the magnitude of the deformation with a mean absolute error of 0.06°. This capability may impart soft robots with more complete proprioception, enabling them to be reliably controlled and responsive to external stimuli.

Stretchable surfaces with programmable 3D texture morphing for synthetic camouflaging skins.

Technologies that use stretchable materials are increasingly important, yet we are unable to control how they stretch with much more sophistication than inflating balloons. Nature, however, demonstrates remarkable control of stretchable surfaces; for example, cephalopods can project hierarchical structures from their skin in milliseconds for a wide range of textural camouflage. Inspired by cephalopod muscular morphology, we developed synthetic tissue groupings that allowed programmable transformation of two-dimensional (2D) stretchable surfaces into target 3D shapes. The synthetic tissue groupings consisted of elastomeric membranes embedded with inextensible textile mesh that inflated to within 10% of their target shapes by using a simple fabrication method and modeling approach. These stretchable surfaces transform from flat sheets to 3D textures that imitate natural stone and plant shapes and camouflage into their background environments.

Click chemistry stereolithography for soft robots that self-heal.

Although soft robotics promises a new generation of robust, versatile machines capable of complex functions and seamless integration with biology, the fabrication of such soft, three dimensional (3D) hierarchical structures remains a significant challenge. Stereolithography (SLA) is an additive manufacturing technique that can rapidly fabricate the complex device architectures required for the next generation of these systems. Current SLA materials and processes are prohibitively expensive, display little elastic deformation at room temperature, or exhibit Young's moduli exceeding most natural tissues, all of which limit use in soft robotics. Herein, we report a low-cost build window substrate that enables the rapid fabrication of high resolution (∼50 µm) silicone (polydimethylsiloxane) based elastomeric devices using an open source SLA printer. Our thiol-ene click chemistry permits photopolymerization using low energy (He < 20 mJ cm-2) optical wavelengths (405 nm < λ < 1 mm) available on many low-cost SLA machines. This chemistry is easily tuned to achieve storage moduli, 6 < E < 283 kPa at engineering strains, γ = 0.02; similarly, a large range of ultimate strains, 0.5 < γult < 4 is achievable through appropriate selection of the two primary chemical constituents (mercaptosiloxane, M.S., and vinylsiloxane, V.S.). Using this chemo-mechanical system, we directly fabricated compliant machines, including an antagonistic pair of fluidic elastomer actuators (a primary component in most soft robots). During printing, we retained unreacted pockets of M.S. and V.S. that permit autonomic self-healing, via sunlight, upon puncture of the elastomeric membranes of the soft actuators.

Arteritis and brachial plexus neuropathy as delayed complications of radiation therapy.

Radiation-induced arteritis of large vessels and brachial plexus neuropathy are uncommon delayed complications of local radiation therapy. We describe a 66-year-old woman with right arm discomfort, weakness, and acrocyanosis that developed 21 years after local radiation for breast adenocarcinoma. Arteriography revealed arteritis, with ulcerated plaque formation at the subclavian-axillary artery junction, consistent with radiation-induced disease, and diffuse irregularity of the axillary artery. Electromyography showed a chronic brachial plexopathy. The patient's acrocyanosis, thought to be due to digital embolization from her vascular disease, improved with antiplatelet therapy. The concurrent combination of radiation-induced arteritis and brachial plexopathy is uncommon but should be considered in patients presenting with upper extremity pain or weakness after radiation therapy.

3,13-Dimethylheptadecane: Major sex pheromone component of the western false hemlock looper,Nepytia freemani Munroe (Lepidoptera: Geometridae).

3,13-Dimethylheptadecane (3,13-dime-17Hy) is the major sex pheromone component of the western false hemlock looper (WFHL),Nepytia freemani Munroe. It was identified in extracts of female pheromone glands by coupled gas chromatographic-electroantennographic detection (GC-EAD) and coupled GC-mass spectroscopy (GC-MS). Traps baited with 100µg of 3,13-dime-17Hy attracted large numbers of male WFHL. Of five additional candidate pheromone dimethylated hydrocarbons, only 3,13-dimethylhexadecane attracted male WFHL. However, neither 3,13-dime-16Hy nor the other four compounds enhanced attraction to 3,13-dime-17Hy when tested in binary or ternary combination at respective ratios of 100∶10, 100∶1, or 100∶1∶1. Identification of the complete WFHL sex pheromone requires structural elucidation of all 12 EAD-active components in gland extracts, determination of their chirality, and field testing of antennally active isomers in appropriate combinations and ratios. Stereoisomeric 3,13-dime-17Hy as trap bait may already be used to monitor WFHL populations.

Raynaud's phenomenon.

Much has been learned about the complexity of the local, humoral and nervous factors regulating the normal behavior of the skin blood vessels, and many studies have addressed how this knowledge might relate to the causation of primary Raynaud's disease. Despite this, the mechanism(s) responsible for the attacks of digital vasospasm remain an enigma. A key question is whether these attacks represent an exaggeration of the normal mechanisms causing constriction of the digital vessels with local cooling, or are due to a specific abnormality. In this article it is suggested that multiple factors are responsible, including the possibility of co-transmitters released with norepinephrine from the sympathetic nerves, increased activation of beta 2-adrenoceptors on the nerve endings, a shift in the balance of alpha 1 and alpha 2 adrenoceptors on the vascular smooth muscle and in endothelium-derived relaxing and contracting factors, and altered interactions of the endothelium with the blood elements including the effects of increased platelet serotonin.

Selection of pheromone trap and attractant dispenser load to monitor black army cutworm,Actebia fennica.

Catch rates of black army cutworm moths,Actebia fennica (Lepidoptera: Noctuidae), were determined for different types of traps and different dispenser loads of sex attractant. Of the five traps tested, highest catch (35 males/per night) was obtained with Uni-Traps, whereas Pherocon 1CP, Delta and Hara traps rapidly became saturated at 9, 6, and 11 males/per night, respectively. Multi-Pher traps, like the Uni-Traps, have a covered vertical cone with a large collecting bucket but only catch about 1/3 of the number of moths (9 males/per night) as the Uni-Traps, thus reducing potential saturation. Red rubber septa loaded with 500 µg of attractant blend gave a consistent catch for at least 60 days; 1000 and 2000 µg loadings lasted for a minimum of 90 days. Polyvinylchloride and red rubber septa dispensers containing 100 µg of attractant had similar catch rates, which decreased rapidly with age. Based on these trap and lure-loading experiments, Multi-Pher traps baited with 1000 µg of attractant in a red rubber septum were selected for future calibration studies between catch density and population fluctuations on susceptible sites. Two years of monitoring results also are reported.

Hypertension and left ventricular diastolic function.

In recent years, there has been increased recognition of the relative importance of abnormalities of diastolic function in patients with essential hypertension. Indeed, diastolic dysfunction may be the earliest indicator of hypertensive heart disease. In this article, the mechanisms governing normal ventricular relaxation and the factors that may cause diastolic dysfunction are reviewed. Noninvasive clinical methods, particularly Doppler echocardiography and radionuclide angiography, for determination of diastolic function are outlined, and the limited experience in the management of hypertensive patients with abnormalities of diastolic function is discussed. When congestive heart failure develops in a patient with hypertension, it is especially important to determine whether it is due primarily to systolic or to diastolic left ventricular dysfunction.

Chemistry and field evaluation of the sex pheromone of western spruce budworm,Choristoneura occidentalis, Freeman.

Chemical analyses and field bioassays showed a mixture of 92% (E)- and 8% (Z)-11-tetradecenal to be the sex attractant pheromone of the western spruce budworm,Choristoneura occidentalis Freeman. Females were also found to emit small amounts of the corresponding acetates and alcohols, but these components were not active in the bioassay. In contrast, in whole female tip extracts, (E)-11-tetradecenyl acetate predominates, and aldehyde pheromone components are present in lesser quantities, suggesting that final biosynthesis of pheromone takes place just prior to or during emission. At release rates approximating that of the female (2-4 ng/hr), a 92∶8E∶Z blend of the synthetic aldehydes was at least as attractive as live females. Addition of the corresponding acetates or alcohols up to 50% of the aldehyde content did not significantly enhance or inhibit attraction. No major differences were apparent in pheromone production of females from a laboratory stock or from field collections from diverse geographic locations ranging from Colorado to British Columbia.

The fate of acephate and carbaryl in water.

Acephate was resistent to hydrolysis in distilled, buffered water at pH 4.0 to 6.9, but not at pH 8.2, held for 20 days at 20 or 30 degrees C. The maximum conversion to methamidophos was 4.5% of the added acephate at pH 8.2 and 20 degrees C. The persistence of acephate in two natural waters, held at 9 degrees C for up to 42 and 50 days varied: 80% were recovered from pond water after 42 days, and 45% from creek water after 50 days. Rates of acephate degradation increased greatly when treated water samples were incubated in the presence of sediments, but not if water and sediment were autoclaved prior to treatment and incubation. The greatest conversion to methamidophos, 1.3% of the added acephate, had occurred after 42 days in pond water without sediment. Under the same conditions, carbaryl was less persistent than acephate in the natural waters: 18 to 20% were recovered from pond water after 42 days, and 37 to 40% from creek water after 50 days. The presence of sediment did not affect its degradation significantly. But more than 55% were recovered after 50 days if water and sediment were autoclaved prior to treatment and incubation. Neither acephate, methamidophos, nor carbaryl could be shown to escape from water into the atmosphere.