A Novel Training and Collaboration Integrated Framework for Human-Agent Teleoperation.

Human operators have the trend of increasing physical and mental workloads when performing teleoperation tasks in uncertain and dynamic environments. In addition, their performances are influenced by subjective factors, potentially leading to operational errors or task failure. Although agent-based methods offer a promising solution to the above problems, the human experience and intelligence are necessary for teleoperation scenarios. In this paper, a truncated quantile critics reinforcement learning-based integrated framework is proposed for human-agent teleoperation that encompasses training, assessment and agent-based arbitration. The proposed framework allows for an expert training agent, a bilateral training and cooperation process to realize the co-optimization of agent and human. It can provide efficient and quantifiable training feedback. Experiments have been conducted to train subjects with the developed algorithm. The performances of human-human and human-agent cooperation modes are also compared. The results have shown that subjects can complete the tasks of reaching and picking and placing with the assistance of an agent in a shorter operational time, with a higher success rate and less workload than human-human cooperation.

Characterization of bacteria swarming effect under plasmonic optical fiber illumination.

Significance: Plasmo-thermo-electrophoresis (PTEP) involves using plasmonic microstructures to generate both a large-scale convection current and a near-field attraction force (thermo-electrophoresis). These effects facilitate the collective locomotion (i.e., swarming) of microscale particles in suspension, which can be utilized for numerous applications, such as particle/cell manipulation and targeted drug delivery. However, to date, PTEP for ensemble manipulation has not been well characterized, meaning its potential is yet to be realized. Aim: Our study aims to provide a characterization of PTEP on the motion and swarming effect of various particles and bacterial cells to allow rational design for bacteria-based microrobots and drug delivery applications. Approach: Plasmonic optical fibers (POFs) were fabricated using two-photon polymerization. The particle motion and swarming behavior near the tips of optical fibers were characterized by image-based particle tracking and analyzing the spatiotemporal concentration variation. These results were further correlated with the shape and surface charge of the particles defined by the zeta potential. Results: The PTEP demonstrated a drag force ranging from a few hundred fN to a few tens of pN using the POFs. Furthermore, bacteria with the greater (negative) zeta potential (|ζ|>10 mV) and smoother shape (e.g., Klebsiella pneumoniae and Escherichia coli) exhibited the greatest swarming behavior. Conclusions: The characterization of PTEP-based bacteria swarming behavior investigated in our study can help predict the expected swarming behavior of given particles/bacterial cells. As such, this may aid in realizing the potential of PTEP in the wide-ranging applications highlighted above.

Fixed-time regulation of spacecraft orbit and attitude coordination with optimal actuation allocation using dual quaternion.

On-orbit service spacecraft with redundant actuators need to overcome orbital and attitude coupling when performing proximity maneuvers. In addition, transient/steady-state performance is required to fulfill the user-defined requirements. To these ends, this paper introduces a fixed-time tracking regulation and actuation allocation scheme for redundantly actuated spacecraft. The coupling effect of translational and rotational motions is described by dual quaternion. Based on this, we propose a non-singular fast terminal sliding mode controller to guarantee fixed-time tracking performance in the presence of external disturbances and system uncertainties, where the settling time is only dependent on user-defined control parameters rather than initial values. The unwinding problem caused by the redundancy of dual quaternion is handled by a novel attitude error function. Moreover, optimal quadratic programming is incorporated into null space pseudo-inverse control allocation that ensures the actuation smoothness and never violates the maximum output capability of each actuator. Numerical simulations on a spacecraft platform with symmetric thruster configuration demonstrate the validity of the proposed approach.

A comparative review of artificial muscles for microsystem applications.

Artificial muscles are capable of generating actuation in microsystems with outstanding compliance. Recent years have witnessed a growing academic interest in artificial muscles and their application in many areas, such as soft robotics and biomedical devices. This paper aims to provide a comparative review of recent advances in artificial muscle based on various operating mechanisms. The advantages and limitations of each operating mechanism are analyzed and compared. According to the unique application requirements and electrical and mechanical properties of the muscle types, we suggest suitable artificial muscle mechanisms for specific microsystem applications. Finally, we discuss potential strategies for energy delivery, conversion, and storage to promote the energy autonomy of microrobotic systems at a system level.

Plasmonic optical fiber for bacteria manipulation-characterization and visualization of accumulation behavior under plasmo-thermal trapping.

In this article, we demonstrate a plasmo-thermal bacterial accumulation effect using a miniature plasmonic optical fiber. The combined action of far-field convection and a near-field trapping force (referred to as thermophoresis)-induced by highly localized plasmonic heating-enabled the large-area accumulation of Escherichia coli. The estimated thermophoretic trapping force agreed with previous reports, and we applied speckle imaging analysis to map the in-plane bacterial velocities over large areas. This is the first time that spatial mapping of bacterial velocities has been achieved in this setting. Thus, this analysis technique provides opportunities to better understand this phenomenon and to drive it towards in vivo applications.

Non-mechanical sub-pixel image shifter for acquiring super-resolution digital images.

A sub-pixel image shifter is presented, for use in enhancing the spatial resolution of digital image sensors by combining multiple displaced sub-images using a super-resolution (SR) algorithm. The device uses the walk-off phenomenon in birefringent crystals to separate images with opposite polarizations by a sub-pixel displacement. A liquid crystal (LC) waveplate plus a polarizer can then select the specific image to be exposed, with fast, non-mechanical control. This cascaded device, comprising two sapphire crystals, two LCs, and a single polarizer, is capable of 2-dimensional image shift with displacements of 0.5 pixels. The experimental results show that the image registration stability can be precisely controlled within 0.05 pixels and the contrast transfer function ratio of the SR image is enhanced by up to 1.36 times compared to the original captured image. Moreover, based on the fast transition time of LCs, the displaced sub-images can be recorded in video form with a frame rate of 40 fps.

Low-loss one-dimensional photonic bandgap filter in (110) silicon.

A free-space silicon one-dimensional photonic bandgap optical filter is designed and fabricated. A two-stage (110) wafer etching process is employed to form the extremely vertical, smooth, and high-aspect-ratio features that are essential for good optical properties. The (111) oriented planes of the wafer form <0.01 degrees off-vertical trenches that make up the Fabry-Perot filter. A simulation model is presented that analyzes the effect of verticality and predicts the measured spectrum well.