An Integrated Target Acquisition Approach and Graphical User Interface Tool for Parallel Manipulator Assembly

In this paper, two integrated target identification and acquisition algorithms and a graphical user interface (GUI) simulation tool for automated assembly of parallel manipulators are proposed. They seek to identify the target machine part from the workspace, obtain its location and pose parameters, and accomplish its assembling task while avoiding the collision with other items (obstacles). Fourier descriptors (FDs) and support vector machine (SVM) are adopted in this approach. The image of task area of workspace is obtained through machine vision, and the target assembling parts are identified. To acquire the location and pose information of the target, a modulus-shift matching (MSM) algorithm is proposed and integrated into the FD and SVM approaches, which could efficiently obtain the pose parameters while eliminating the effect of choice of starting point. The simulation results of two integrated algorithms, FD-MSM and SVM-MSM, are then compared and analyzed. In addition, a GUI is designed to visualize and assist the assembly process. An application on delta parallel robot with an extra rotational degree of freedom (DOF) is presented.

GenePiper, a Graphical User Interface Tool for Microbiome Sequence Data Mining

Amplicon sequencing of the 16S rRNA gene is commonly performed for the assessment and comparison of microbiomes. Here, we introduce GenePiper, an open-source R Shiny application that provides an easy-to-use interface, a wide range of analytical methods, and optimized graphical outputs for offline microbiome data analyses.

Stiffness and energy storage characteristics of energy storage and return prosthetic feet

Background: Mechanical properties of prosthetic feet can significantly influence amputee gait, but how they vary with respect to limb loading and orientation is infrequently reported. Objective: The objective of this study is to measure stiffness and energy storage characteristics of prosthetic feet across limb loading and a range of orientations experienced in typical gait. Study design: This study included mechanical testing. Methods: Force–displacement data were collected at combinations of 15 sagittal and 5 coronal orientations and used to calculate stiffness and energy storage across prosthetic feet, stiffness categories, and heel wedge conditions. Results: Stiffness and energy storage were highly non-linear in both the sagittal and coronal planes. Across all prosthetic feet, stiffness decreased with greater heel, forefoot, medial, and lateral orientations, while energy storage increased with forefoot, medial, and lateral loading orientations. Stiffness category was proportional to stiffness and inversely proportional to energy storage. Heel wedge effects were prosthetic foot dependent. Conclusion: Orientation, manufacturer, stiffness category, and heel wedge inclusion greatly influenced stiffness and energy storage characteristics. Clinical relevance These results and an available graphical user interface tool may help improve clinical prescriptions by providing prosthetists with quantitative measures to compare prosthetic feet.