On Sub-modularization and Morphological Heterogeneity in Modular Robotics

Author(s):  
A. H. Lyder ◽  
K. Stoy ◽  
R. F. M. Garciá ◽  
J. C. Larsen ◽  
P. Hermansen
2015 ◽  
Vol 26 (22) ◽  
pp. 4163-4170 ◽  
Author(s):  
Sam Cooper ◽  
Amine Sadok ◽  
Vicky Bousgouni ◽  
Chris Bakal

Melanoma cells can adopt two functionally distinct forms, amoeboid and mesenchymal, which facilitates their ability to invade and colonize diverse environments during the metastatic process. Using quantitative imaging of single living tumor cells invading three-dimensional collagen matrices, in tandem with unsupervised computational analysis, we found that melanoma cells can switch between amoeboid and mesenchymal forms via two different routes in shape space—an apolar and polar route. We show that whereas particular Rho-family GTPases are required for the morphogenesis of amoeboid and mesenchymal forms, others are required for transitions via the apolar or polar route and not amoeboid or mesenchymal morphogenesis per se. Altering the transition rates between particular routes by depleting Rho-family GTPases can change the morphological heterogeneity of cell populations. The apolar and polar routes may have evolved in order to facilitate conversion between amoeboid and mesenchymal forms, as cells are either searching for, or attracted to, particular migratory cues, respectively.


Author(s):  
Robert O. Ambrose ◽  
Delbert Tesar

Abstract The ability to reconfigure automation equipment will reduce the manufacturing costs of obsolesence, training and maintenance while allowing for a faster response to changes in the product line. A modular philosophy will give the user these advantages, but only if based on a common connection standard. A mechanical connection was selected for the UT Modular Robotics Testbed and used in the designs of four robot joint modules and nine robot link modules. The standard was also used for assecories, such as the testand, loading fixtures and endeffectors. Three years of experiments with this connection standard are reviewed, and used as the basis for new connection designs. Experiments using multiple modules assembled as dextrous robots, as well as experiments focusing on the connection itself, will be described. Goals for future connection standards include designs with upward compatibility, combinations of both mechanical and electrical fittings, and robot triendly constraints that allow for automated or remote assembly of modular robots.


2006 ◽  
Vol 23 (3) ◽  
pp. 746-757 ◽  
Author(s):  
Fernando Carbayo

Notogynaphallia caissara (E.M. Froehlich, 1955) and N. fita (Froehlich, 1959) are redescribed. Both species are included in the so-called group 2 of E.M. Froehlich & Leal-Zanchet (2003), in Notogynaphallia, and are provided with a cephalic retractor muscle derived from the ventral longitudinal subepidermic muscle layer. A muscle retractor does not exist in the type-species of the genus. This is strong evidence of the morphological heterogeneity within the genus, as E.M. Froehlich & Leal-Zanchet (2003) previously proposed mainly based on characters of the reproductive organs.


2020 ◽  
Vol 2 (1) ◽  
pp. 004-008
Author(s):  
Asha K Kumaraswamy ◽  
Chandrashekar Patil

Contrast-enhanced Computed Tomography (CT) imaging is most useful tool in diagnosing and locating the kidney lesions. An automated kidney and tumor segmentation are very helpful because it can provide the precise information about the location and size of lesions which can be used in quantitative analysis of the tumor. Semantic segmentation of kidney is very challenging as it requires large dataset for training and its morphological heterogeneity makes it a difficult problem. The 2019 Kidney and Kidney Tumor Segmentation challenge (KiTS19) was a competition held in conjunction with the 2019 International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI) has publicly released a 210 cross sectional CT images with kidney tumors along with corresponding semantic segmentation masks. In this work we proposed a novel two stage 2D segmentation method to automatically segment kidney and tumor using the combination of Unet++ and squeeze and excite approach. The proposed network is trained in keras framework. Our method achieves a dice score of 0.98 and 0.965 with kidney and tumor respectively on training data and the results demonstrates the accuracy of our proposed method. Proposed method was able to segment kidney and tumor from abdominal CT images which can provide the exact location and size of the tumor. This information can also be used to analyze treatment response.


Soft Matter ◽  
2021 ◽  
Author(s):  
Saji S. Edatholath ◽  
Mohammed R. Chandan ◽  
Vinod K. Aswal ◽  
Sangram K. Rath ◽  
G. Harikrishnan

We elucidate the influences of hydration on the morphological heterogeneity of the broad class of segmented copolymers.


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