Tactile Behaviors with the Vision-Based Tactile Sensor FingerVision

This paper introduces a vision-based tactile sensor FingerVision, and explores its usefulness in tactile behaviors. FingerVision consists of a transparent elastic skin marked with dots, and a camera that is easy to fabricate, low cost, and physically robust. Unlike other vision-based tactile sensors, the complete transparency of the FingerVision skin provides multimodal sensation. The modalities sensed by FingerVision include distributions of force and slip, and object information such as distance, location, pose, size, shape, and texture. The slip detection is very sensitive since it is obtained by computer vision directly applied to the output from the FingerVision camera. It provides high-resolution slip detection, which does not depend on the contact force, i.e., it can sense slip of a lightweight object that generates negligible contact force. The tactile behaviors explored in this paper include manipulations that utilize this feature. For example, we demonstrate that grasp adaptation with FingerVision can grasp origami, and other deformable and fragile objects such as vegetables, fruits, and raw eggs.

Static and Dynamic Performance of a Morphing Trailing Edge Concept with High-Damping Elastomeric Skin

Nature has many striking examples of adaptive structures: the emulation of birds’ flight is the true challenge of a morphing wing. The integration of increasingly innovative technologies, such as reliable kinematic mechanisms, embedded servo-actuation and smart materials systems, enables us to realize new structural systems fully compatible with the more and more stringent airworthiness requirements. In this paper, the authors describe the characterization of an adaptive structure, representative of a wing trailing edge, consisting of a finger-like rib mechanism with a highly deformable skin, which comprises both soft and stiff parts. The morphing skin is able to follow the trailing edge movement under repeated cycles, while being stiff enough to preserve its shape under aerodynamic loads and adequately pliable to minimize the actuation power required for morphing. In order to properly characterize the system, a mock-up was manufactured whose structural properties, in particular the ability to carry out loads, were also guaranteed by the elastic skin. A numerical sensitivity analysis with respect to the mechanical properties of the multi-segment skin was performed to investigate their influence on the modal response of the whole system. Experimental dynamic tests were then carried out and the obtained results were critically analysed to prove the adequacy of the adopted design approaches as well as to quantify the dissipative (high-damping) effects induced by the rubber foam on the dynamic response of the morphing architecture.

Involutional changes in collagen-elastic skin matrix, markers of cell renewal, and endotheliocyte activity in epidermis and dermis (a pathomorphological study)

Актуальность работы обусловлена поиском фундаментальных путей борьбы с инволюционными процессами. Цель исследования: выявить и оценить наличие и выраженность гипотрофических и дистрофических изменений в коже, а также динамику изменений маркеров клеточного обновления эпидермиса и дермы у людей разного возраста. Материалы и методы. Исследовали фрагменты кожи, полученные при аутопсии в течение первых 4-12 ч после констатации смерти у лиц молодого (18-35 лет) и старшего (51-80 лет) возраста. Проведен комплексный анализ фрагментов кожи, включающий гистологическое, гистохимическое исследование с определением значимых различий гистоархитектоники коллагеново-эластического каркаса дермы, а также иммуногистохимическое выявление экспрессии Ki67 и Р53, CD31 и ICAM1-позитивных клеток. Результаты. Возрастные изменения в соединительной ткани кожи человека в сравнении с молодыми характеризуются увеличением количества эластических и уменьшением числа коллагеновых волокон кожи; снижением количества Ki-67 кератиноцитов, что сочетается с подавлением процессов пролиферации в эпидермисе и атрофией дермы. Выявлено увеличение числа р53 позитивных клеток в эпидермисе у лиц зрелого возраста при стационарном уровне ICAM1 позитивных эндотелиоцитов, что свидетельствует о высоком репаративном потенциале и о сохранении к 50-80 годам человека высокой метаболической активности части эндотелиоцитов сосочкового слоя дермы. С возрастом этот слой истончается, в нем уменьшается число капилляров и CD31 позитивных клеток. Однако, несмотря на сокращение объема микроциркуляторного русла у людей старших возрастных групп, эндотелиоциты находятся в активированном состоянии. Выводы. Несмотря на возраст, уменьшение объема микроциркуляторного русла кожи, угрозу развития окислительного дисбаланса, относительного клеточного энергодефицита и даже новообразований, эндотелиоциты способны оставаться в активированном состоянии. Полученные результаты иммуногистохимических реакций дают основания допускать возможность целенаправленно инициировать процессы неоангиогенеза и препятствовать деградации экстрацеллюлярного матрикса, то есть старения кожи. Background. The study focused at searching for basic ways to combat involutionary processes. The aim of the study was to identify and evaluate age-related changes in the skin, assess the severity of atrophic changes and the state of markers for cell renewal in the epidermis and dermis of people at different ages. Materials and methods. The study material was skin fragments obtained during autopsy from young (18-35 years) and older (51-80 years) people within 4-12 hours of their death. A comprehensive analysis of pathomorphological material was performed, including a histological histochemical study to determine significant differences in histoarchitectonics of the collagen-elastic dermal matrix and a immunohistochemical study to determine expression of Ki67 and P53, CD31, and ICAM1-positive cells. Results. Age-related changes in skin connective tissue were evident as an increased content of elastic fibers, decreased content of collagen fibers, and decreased number of Ki67 keratinocytes associated with depression of proliferative processes in the epidermis and atrophy of the dermis. The number of P53-positive cells was increased in the epidermis of older adults while the level of ICAM1-positive endotheliocytes was steady. This indicated a high reparative potential and preservation of a part of metabolically active endotheliocytes in the papillary dermis in 50-80 year old people. During ageing, the papillary layer of dermis becomes thinner and the number of capillaries and CD31-positive cells decreases. However, despite the decreased volume of microvasculature, endotheliocytes of older people remain activated. Conclusion. Results of this study suggest a possibility for targeted initiation of neoangiogenetic processes and prevention of extracellular matrix degradation.

Синдроматика та стан метаболічних процесів у корів за мікроелементозів

The article analyzes the results of clinical research and the state of the indicators of the metabolism of high-yielding cows of PP «AGRO-EXPRESS-SERVICE» in the Mlynivskyi district of the Rivne region due to the lack of biogenic microelements (Co, Cu, Zn).During the clinical examination of cows, the characteristic symptoms of microelementosis (Co, Cu, Zn) were found: loss of appetite, taste distortion, pallor of visible mucous membranes (in 65 cows); rude dull hair; low-elastic skin, subcutaneous fat is not sufficiently expressed; intestinal peristalsis weakened, hypotonic prehistoras. In 95 cows, pulse rate, respiration, scarring and body temperature were on the lower limit of physiological oscillations; only 20.8% of cows had tachycardia (85–95 per 1 minute) and tachypnea (35–45 per 1 minute). In addition, in 45.8% of cows fattening below average, the constitution is dense. The productivity of animals was sharply reduced. In 33.3% of cows, the curvaceousness and shrinkage of wool were noted. In 6.8% of animals, alotriophagia was observed. Due to lack of cobalt in 15% of cows revealed symptoms of osteodystrophy: tight course, convexity of the edges, pain of the joints, softening of the tail vertebrae.The violation of the exchange of Cu, Cu, and Zn in cows was characterized by a decrease in blood serum protein content by 14.8% (P < 0.001), albumin by 28.5%; (P < 0.001), carotene by 33.3%, glucose by 21.4% (P < 0.001), reserve alkalinity by 13.7%, increase in the content of globulins by 14.6% (P < 0.001), bilirubin by 24.6%, creatinine by 17.8% (P < 0.001) and cholesterol by 27.8%.

Traumatic abdominal wall hernia with concealed colonic perforation

Traumatic abdominal wall hernia (TAWH) is a rare clinical entity in terms of aetiology. It occurs following a blunt abdominal injury with energy high enough to cause disruption of the musculoaponeurotic layer but not the elastic skin layer. It is often associated with underlying intra-abdominal injuries, which can be diagnosed either clinically or radiologically. We report a case of TAWH in a young man with associated large bowel transection, which remained undiagnosed in the preoperative period owing to its masked features. He was managed surgically, with no recurrence to date. Considering the high volume of blunt abdominal trauma cases that present to the accident and emergency department, only few cases of TAWH have been reported in the literature. Confusion still exists regarding the timing and mode of management of this condition.

A thin all-elastomeric capacitive pressure sensor array based on micro-contact printed elastic conductors

A highly elastic skin-like capacitive pressure sensor array ensuring electrical and mechanical robustness based on a thin all-elastomeric platform is presented.