RESUMEN
Octopuses can whip their soft arms with a characteristic "bend propagation" motion to capture prey with sensitive suckers. This relatively simple strategy provides models for robotic grasping, controllable with a small number of inputs, and a highly deformable arm with sensing capabilities. Here, we implemented an electronics-integrated soft octopus arm (E-SOAM) capable of reaching, sensing, grasping, and interacting in a large domain. On the basis of the biological bend propagation of octopuses, E-SOAM uses a bending-elongation propagation model to move, reach, and grasp in a simple but efficient way. E-SOAM's distal part plays the role of a gripper and can process bending, suction, and temperature sensory information under highly deformed working states by integrating a stretchable, liquid-metal-based electronic circuit that can withstand uniaxial stretching of 710% and biaxial stretching of 270% to autonomously perform tasks in a confined environment. By combining this sensorized distal part with a soft arm, the E-SOAM can perform a reaching-grasping-withdrawing motion across a range up to 1.5 times its original arm length, similar to the biological counterpart. Through a wearable finger glove that produces suction sensations, a human can use just one finger to remotely and interactively control the robot's in-plane and out-of-plane reaching and grasping both in air and underwater. E-SOAM's results not only contribute to our understanding of the function of the motion of an octopus arm but also provide design insights into creating stretchable electronics-integrated bioinspired autonomous systems that can interact with humans and their environments.
RESUMEN
Background: Recent years have witnessed the advancement of deep learning vision technologies and applications in the medical industry. Intelligent devices for specific medication management could alleviate workload of medical staff by providing assistance services to identify drug specifications and locations. Methods: In this work, object detectors based on the you only look once (YOLO) algorithm are tailored for toxic and narcotic medication detection tasks in which there are always numerous of arbitrarily oriented small bottles. Specifically, we propose a flexible annotation process that defines a rotated bounding box with a degree ranging from 0° to 90° without worry about the long-short edges. Moreover, a mask-mapping-based non-maximum suppression method has been leveraged to accelerate the post-processing speed and achieve a feasible and efficient medication detector that identifies arbitrarily oriented bounding boxes. Results: Extensive experiments have demonstrated that rotated YOLO detectors are highly suitable for identifying densely arranged drugs. Six thousand synthetic data and 523 hospital collected images have been taken for training of the network. The mean average precision of the proposed network reaches 0.811 with an inference time of less than 300 ms. Conclusions: This study provides an accurate and fast drug detection solution for the management of special medications. The proposed rotated YOLO detector outperforms its YOLO counterpart in terms of precision.
