Find research datasets worth reusing

opencc-by-4.0Dec 2023View details →

Enquête par questionnaire humanités "Manipuler des données en Sciences Humaines et Sociales (SHS) : R, Python, ou autre ?"

Ce sondage réalisé avec Framaform https://framaforms.org/manipuler-des-donnees-en-sciences-humaines-et-sociales-shs-r-python-ou-autre-1675889669 était destiné à tous les personnels impliqués dans la recherche et / ou l'enseignement en sciences humaines et sociales mobilisant du traitement de données (humanités numériques, sciences sociales computationnelles, etc.). Il a été diffusé sur la liste de diffusions DH, sur les sites de l'Observatoire des Humanités numériques de l'ENS PSL et de l'INSHS du CNRS.L'enquête visait à mieux connaître les usages de la programmation chez les chercheurs, enseignants-chercheurs, étudiants et personnels de soutien à la recherche. Les résultats obtenus permettent de proposer un état des lieux de l'existant afin d'accompagner et d'améliorer les pratiques en proposant des ressources pour s'informer ou se former.217 personnes ont répondu à cette enquête ce qui nous a permis de dresser un panorama réaliste des pratiques actuelles relevant de la programmation en SHS.Le fichier .json permet de recoder le nom des colonnes.Un notebook d'analyse est disponible ici : https://github.com/emilienschultz/digit_hum_2023/blob/main/2023_Digit_Hum_Exploration_sondage_v2.ipynb

opencc-by-4.0Sep 2023View details →

Data - "Balancing Risk-Return Decisions by Manipulating the Mesofrontal Circuits in Primates"

Averaged data associated with article "Balancing Risk-Return Decisions by Manipulating the Mesofrontal Circuits in Primates"

opencc-zeroFeb 2024View details →

Data for: Information accessibility, accounting manipulation, and sustainable development of digital enterprises: Based on double moderating effect model and panel PSM-DID method

A theoretical mechanism was analyzed from the micro perspective of the enterprise to explore how information accessibility moderates the effect of accounting manipulation on the sustainable development of digital enterprises. Using data from 1200 listing digital enterprises in China and the DEA-Malmquist index method, the efficiency value of digital enterprises in 2007–2021 was estimated to represent the index of sustainable development of digital enterprises. The accounting manipulation was detected using the panel PSM-DID method based on the Administrative Measures for the Recognition of High-tech Enterprise's policy. The information accessibility value was estimated based on the MDA method. Empirical studies were conducted using text analysis, the panel PSM-DID method, and the double moderating effect model. The results showed that: (1) Accounting manipulation had a negative impact on the sustainable development of "true" digital enterprises and the "fake" digital enterprises; (2) Information accessibility directly and positively enhanced the technological progress and scale efficiency of digital enterprises, and its moderating effect was heterogeneous, with a significant moderating effect on the "true" digital enterprises and a negative effect on the "fake" ones.

opencc-zeroFeb 2024View details →

Data from: Manipulation of soil mycorrhizal fungi Influences floral display traits

Most plants form root hyphal relationships with mycorrhizal fungi, especially arbuscular mycorrhizal fungi (AMF). These associations are known to positively impact plant biomass and competitive ability. However, less is known about how mycorrhizae may impact other ecological interactions, such as those mediated by pollinators. We performed a meta-regression of studies that manipulated AMF and measured traits related to pollination, including floral display, rewards, visitation, and reproduction, extracting 63 studies with 423 effects. On average, the presence of mycorrhizae was associated with positive effects on floral traits. Specifically, we found impacts of AMF on floral display, pollinator visitation and reproduction, and a positive but non-significant impact on rewards. Studies manipulating mycorrhizae with fungicide tended to report contrasting results, possibly because fungicide destroys both beneficial and pathogenic microbes. Our study highlights the potential for relationships with mycorrhizal fungi to play an important, yet underrecognized role in plant-pollinator interactions. With heightened awareness of the need for a more sustainable agricultural industry, mycorrhizal fungi may offer the opportunity to reduce reliance on inorganic fertilizers. At the same time, fungicides are now ubiquitous in agricultural systems. Our study demonstrates indirect ways in which plant-belowground fungal partnerships could manifest in plant-pollinator interactions.

opencc-zeroMar 2024View details →

Data from: Fish responses to manipulated microhabitat complexity in urbanised shorelines

The diversity-habitat complexity relationship has been utilised widely in conservation and biodiversity enhancement interventions, but few studies have attempted to tease apart the components of complexity that drive this relationship. The ecological engineering of seawalls is one area where this topic has advanced, albeit not at scales relevant to fish. We constructed habitat enhancement units (Simple, Complex, and Freestyle 'fish houses') out of hollow concrete blocks and installed them at the base of tropical rip-rap seawalls. Both the Simple and Complex fish houses were cuboid, had the same surface area and volume, and included 100 holes (microhabitats). The holes in Simple fish houses were all the same size, whereas 25 size variations were used in the Complex design (volume-independent manipulation of a single complexity element). The Freestyle fish house was non-cuboid and had more overall volume, microhabitat types and sizes. We examined the volume-independent (Simple vs Complex fish houses) and volume-dependent (Freestyle fish house) effects of microhabitat complexity on fish taxonomic and functional assemblage metrics at two spatial scales and across diel cycles We also investigated diurnal and nocturnal fish-microhabitat size relationships. There was a modest, but not significant, volume-independent effect of complexity on fish assemblages. The Freestyle design supported significantly greater abundance, species richness and distinct taxonomic and functional compositions. These results were dependent on spatial scales and diel cycles. Diel variation in fish activity patterns resulted in stronger size-matching relationships between fish and microhabitat at night than day. Synthesis and applications. Our study shows that, to enhance fish diversity, it is important to provide three-dimensional habitat architecture that incorporates a wide range of microhabitat sizes and types. Our findings also highlight some key considerations when assessing the performance of intervention designs, including spatial-scale dependent effects of structural complexity, diel variation in fish-microhabitat relationships, and choice of intervention assessment metric (i.e. taxonomic vs functional diversity).

IntelliMan_WP5_Grasping, Manipulationand Arm-Hand Coordination_T5.4_Experience-and Model-Based Grasp Synthesis and Manipulation_Pushing_v0

The dataset provides the data recorded during the experiments described in the paper “Costanzo, M.; De Simone, M.; Federico, S.; Natale, C. Non-Prehensile Manipulation Actions and Visual 6D Pose Estimation for Fruit Grasping Based on Tactile Sensing. Robotics 2023, 12, 92. https://doi.org/10.3390/robotics12040092”

IntelliMan_WP5_Grasping, Manipulation and Arm-Hand Coordination_T5.1_DataFusion and Sensing Technology_characterization of sensing system for grippers_v0

The dataset contains data related to the simulations and experiments presented in the publication: G. Laudante, O. Pennacchio, and S. Pirozzi, “Multiphysics simulation for the optimization of an optoelectronic-based tactile sensor,” in Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 2023, pp. 101–110. (DOI: 10.5220/0012166900003543)

Placement Aware Grasp Planning for Efficient Sequential Manipulation

This is a summary and real-world experimental video of Placement Aware Grasp Planning for Efficient Sequential Manipulation.  This work accepted in ECAI 2024.  Paper link : <a href="https://ebooks.iospress.nl/doi/10.3233/FAIA241020">IOS Press Ebooks - Placement Aware Grasp Planning for Efficient Sequential Manipulation</a>

Data from: The neural basis of resting-state fMRI functional connectivity in fronto-limbic circuits revealed by chemogenetic manipulation

Included are raw neuroimaging and preprocessed neural recording data from "The neural basis of resting-state fMRI functional connectivity in fronto-limbic circuits revealed by chemogenetic manipulation" (see Related Works section; citation will be updated after publication). Please cite this paper if you use any of these data. Refer to the linked github repository for associated code. Neuroimaging data is organized in BIDS format and saved as NIfTI files. We used MION (monocrystalline iron oxide nanoparticle) as a contrast agent. Functional resting state files can be found in the 'func' folder for each imaging session. The final six runs are resting state data (the first two/three are short EPI sequences used to test that MION is present in the brain; all resting state data used in our analyses consist of 300 volumes). The first three of these six runs consist of baseline data with no drug treatment. Four through six are resting state data recorded after I.M. injection of vehicle (2% DMSO in saline), dechloroclozapine (DCZ) or clozapine-N-oxide (CNO).  Neural recording data is separated into LFP data, organized by folder, and putative single units, organized the 'Sorted neurons' folder. LFP data folders are named by subject's intial and date of recording. Single units are labeled according to this same system. All data are stored in .mat format and can be opened in MATLAB. KB2.mat files store timing information: the first event in the KBD2 file indicates the start of baseline, pre-injection data acquisition, and the second event indicates the start of post-injection treatment data. The KB3.mat files contains the timing information of the drug injection. As with the fMRI data, we treated animals with I.M. injection of vehicle, DCZ, or CNO.  Treatment information for both modalities is as follows. Neuroimaging: 2020/03/16 Animal L DCZ 1; 2020/05/27 Animal H vehicle 1; 2020/06/01 Animal L vehicle 1; 2020/06/08 Animal H DCZ 1; 2020/06/22 Animal L DCZ 2; 2020/06/24 Animal H vehicle 2; 2020/07/06 Animal L vehicle 2; 2020/07/08 Animal H DCZ 2; 2021/10/25 Animal L CNO; 2022/01/13 Animal H CNO. Neural recordings: 2022/04/14 Animal H DCZ 1; 2022/04/21 Animal H vehicle 1; 2022/05/12 Animal H DCZ 2; 2022/05/24 Animal H vehicle 2; 2022/06/03 Animal H CNO; 2022/08/18 Animal L vehicle 1; 2022/08/25 Animal L DCZ 1; 2022/09/01 Animal L DCZ 2; 2022/09/08 Animal L vehicle 2; 2022/09/22 Animal L CNO.

opencc-by-4.0Dec 2024View details →

Mari4_YARD - Mobile Manipulator - Dataset

A collection of data from the KPIs target by Mary4_Yard project's technology T6: Mobile Manipulator.

opencc-by-4.0Nov 2021View details →

Perceptual learning with mood manipulations -- Children and adults

A .csv including trial-by-trial data from a texture detection visual perceptual learning experiment (see, e.g., Ahissar & Hochstein, 2001). Each trial [row] includes whether the participant responded correctly ('acc'), the stimulus onset asynchrony ('SOA'), the trial number ('trialNum'), the age group ('ageC'; children coded -.5 and adults coded .5), the coding of manipulation condition by arousal ('arousal'; control coded -.5 and non-control coded .5), the deidentified subject ID ('subID'), and the name of the manipulation condition ('valence'; options are "Control", "Stress", or "Positive").

opencc-by-4.0Feb 2021View details →

Manipulations pour la micro-injection chez Biomphalaria glabrata

<ol> <li>Production des &oelig;ufs </li> </ol> Mettre dans des aquariums de 5.5L une trentaine d'escargots adultes (10 mm). Mettre un pondoir (morceau de polystyrène de 3 x 3 cm) dans chaque aquarium, c’est le substrat préféré pour faire pondre Biomphalaria glabrata. Les escargots sont nourris ad libitum avec de la salade (des feuilles laitue sans côtes), ils peuvent aussi être nourris avec de la spiruline sèche pour booster la reproduction. Maintenir les aquariums à une température de 25 degrés. <ol> <li>Collection d’&oelig;ufs </li> </ol> Prenez délicatement plusieurs pontes d’&oelig;ufs déposées sur les polystyrènes avec des pinces souples et placez les &oelig;ufs dans une boîte de pétri avec de l’eau minérale naturelle (Volvic de préference) afin d’éviter qu’ils ne sèchent.  Commencez à trier les &oelig;ufs sous la loupe binoculaire pour choisir seulement le stade gastrula et placez-les dans une autre boîte de pétri avec de l’eau minérale naturelle.    <ol> <li>Préparation de la solution de transfection</li> </ol> Matériel : <ol> <li>Réactif de transfection in vivo jetPEI</li> <li>Solution de glucose 10%</li> <li>Solution de glucose 5% </li> <li>Plasmides (dCas9-SunTag-BFP et scFv-DNMT3A-GFP) </li> <li>Microtubes de 0.2 ml</li> <li>Pipettes P10 et P200</li> <li>Pointes de pipettes P10 et P200</li> <li>Marqueur permanent</li> </ol> La solution de glucose et le réactif de transfection in vivo jetPEI sont équilibrés à température ambiante. Préparez 21 µl de chaque plasmide (dCas9-SunTag-BFP et scFv-DNMT3A-GFP) à une concentration de 78.8 et 88.8 ng/µl respectivement (pour un volume total de 42 µl = 3.5 µg d’ADN), ajoutez l’ensemble à un tube de 0.2ml avec 21 µl de solution de glucose à 10% (étiqueté Tube A).    Dans un autre tube de 0.2ml (étiqueté Tube B), 21 µl de solution de glucose à 5% et 1 µl de in vivo jetPEI sont ajoutés. Préparez un autre tube (étiqueté Tube C) avec 21 µl de solution glucose à 5% et 0.5 µl de in vivo jetPEI pour injecter dans des embryons qui serviront de témoins. Laissez les solutions à température ambiante pendant que vous préparez le poste de micro-injection.   <ol> <li>Préparation du poste de micro-injection</li> </ol>   Matériel : <ol> <li>Micropipettes en verre de 1 mm de diamètre étirées</li> <li>Verre de montre</li> <li>Pâte à modeler</li> <li>Boîtes de pétri 35 mm et 90 mm</li> <li>Huile minérale (M5904, SIGMA)</li> <li>Pissette avec de l’eau minérale naturelle (Volvic)</li> <li>Microtubes de 0.2 ml</li> <li>Plaque de culture cellulaire 12 puits</li> <li>Pinceau fin</li> <li>Solution de rouge de phénol</li> <li>Pipette Pasteur</li> <li>Forceps à dissection</li> <li>Pinces souples</li> <li>Pontes d’&oelig;ufs d’escargots au stade gastrula</li> <li>Injecteur de nanolitre programmable Drummond Scientific Nanoject III</li> </ol> Prenez une micropipette préalablement étirée et coupez-la avec un scalpel pour obtenir une pointe d’environ ~0.2 mm légèrement biseautée si possible. Avant de fixer la micropipette à l’injecteur de nanolitre programmable, la remplir d’huile minérale, sans huile minérale à l’intérieur, elle ne fonctionnera pas correctement. Cela peut être réalisé avec une aiguille de remplissage et une seringue hamilton de 10 µl. Lorsque la micropipette est remplie d’huile il faut la fixer sur l’injecteur, pour cela il faut glisser le mandrin et la pince de serrage sur la micropipette en verre étirée, glisser ensuite le joint d’étanchéité le long du piston, puis le positionner. Une fois la micropipette fixée sur l’injecteur, appuyer sur l’icône [EMPTY] jusqu’à ce que le piston soit complètement allongé, cette étape peut être effectuée avec l’interrupteur à pédale en appuyant une fois sur [EMPTY] puis sur [STOP] puis en procédant à vide avec l’interrupteur à pédale. Un seul bip est émis lorsque le piston est complètement allongé.  Remplir la micropipette avec 3 µl de la solution contrôle ou la solution contenant les plasmides (c’est-à-dire la solution de transfection) en plaçant la pointe de la micropipette en verre dans un tube de 0.2 ml avec la solution à injecter et en appuyant sur l’icône [FILL]. Il est souhaitable de la remplir à un débit lent, en appuyant sur l’icône [FILL] pendant quelques secondes, puis sur l’icône [STOP] pour permettre à l’échantillon de s’équilibrer avant d’appuyer de nouveau sur l’icône [FILL].  Remarque : le piston continue de s’allonger ou de se rétracter jusqu’à ce que l’on appuie sur l’icône [STOP], ou jusqu’à ce que la position pleinement allongée ou pleinement rétractée soit atteinte.    <ol> <li>Microinjection</li> </ol> Placez un verre de montre dans une boîte de pétri de 35 mm et fixez le d’un côté avec de la pâte à modeler pour forme une pente. Utilisez une pince souple pour transférer une masse d’&oelig;ufs et posez-la sur le côté de la pente du verre de montre pour que la masse d’&oelig;ufs soit dans une position inclinée.  Enlevez l'excédent d'eau de l'&oelig;uf avec du papier absorbant contre le côté opposé aux &oelig;ufs. Réhydratez si nécessaire avec un pinceau fin pour améliorer la visibilité des embryons. Pour injecter l’échantillon, retourner à l’écran du mode de fonctionnement en appuyant sur l’icône [EXIT], puis sélectionner le mode d’injection en appuyant sur l’icône [INJECT].  Régler le volume d’injection à 30nL et le débit à 20 nL par seconde en utilisant les icônes [+] et [-] respectivement. Appuyez sur l’icône [INJECT] pour injecter l’échantillon. Injectez 30nL de la solution de micro-injection dans chaque &oelig;uf. Placez les masses d’&oelig;ufs micro-injectés dans une plaque de culture cellulaire de 12 puits et notez avec un marqueur s’ils ont été micro-injectés avec la solution de contrôle ou avec la solution contenant les plasmides.  Notez que nous avons coloré avec du rouge phénol la solution d’injection pour faciliter la visibilité dans cette vidéo.  Monitorer l’expression des plasmides  Monitorez l’expression des plasmides 72 h après la micro-injection dans un microscope de contraste/fluorescente ou une loupe binoculaire fluorescente. Puis triez les escargots fluorescents et réalisez une deuxième micro-injection avec une solution contenant 10 µl d’ARN guide (2ng/µl), ainsi que 0.5 µl de réactif in vivo jetPEI et 10 µl de glucose 5%. 3 jours après la deuxième microinjection, récupérez les escargots éclos dans des tubes 1.5 ml contenant 25 µl du tampon de lyse pour une purification d’ADN et ARN. Pour cette photo élaborée au microscope confocal nous avons lavé une larve véligère dans une solution du PBS puis nous l’avons fixé avec une solution du paraformaldéhyde à 4% et ensuite nous l’avons mis dans une lame avec deux gouttes du milieu de montage de fluorescence Dako. 96 heures après la transfection on peut observer l’expression de la protéine verte fluorescente, de la protéine bleue fluorescente et la co-localization des deux protéines.  Ce protocole sert à effectuer des modifications de la méthylation de l’ADN dans un gène cible. Ce protocole de transfection peut être utiliser avec d’autres plasmides, avec des petits ARN interférents ou avec des ARN messagers.  Produit de IHPE (http://ihpe.univ-perp.fr).

opencc-by-4.0Dec 2021View details →

Data for "Meta-analysis of induced anti-herbivore defence traits in plants from 647 manipulative experiments with natural and simulated herbivory"

Data used in analysis in "Meta-analysis of induced anti-herbivore defence traits in plants from 647 manipulative experiments with natural and simulated herbivory" in Journal of Ecology.  Code used for analysis are included as Supplementary Material of the main article.

opencc-by-4.0Feb 2022View details →

Oil Prices - Support File for Data Manipulation Starter Data Kits

This file can be used to manipulate the oil process data for the Starter Data Kits.

opencc-by-4.0Oct 2021View details →

Multimodal Sensory Learning for Object Manipulation

Multimodal Manipulation Learning Database The dataset consists of data recordings for object manipulation with audio-tactile sensory feedback for object handover. It captures the auditory and tactile signals of a Kuka IIWA robot with an Allegro hand holding a plastic container containing different materials. The robot manipulates the container with vertical shaking and rotation motions. The data consists of force/pressure measurements on the Allegro hand using a Tekscan tactile skin sensor, auditory signals from a microphone, and the joints data of the IIWA robot and the Allegro hand joints.  Dataset Each datafile is a rosbag file containing the data recording from one trial of a robot motion with one material, with rostopics on the following data: <ul> <li>Kuka IIWA 7 Joint data: /iiwa/TorqueController/command /iiwa/eePose /iiwa/joint_states</li> <li>Allegro hand joint data: /allegro_hand_right/joint_states</li> <li>Tekscan sensor recording (tactile force/pressure sensor data on hand): /tekscan/frame</li> <li>Audio data (for microphone attached to hand): /audio/audio /audio/audio_info</li> <li>Experiment information: /trialInfo <ul> <li>which contains: <ul> <li>trial information (motion type, speed, etc.)</li> <li>start/stop of different phases of the trials</li> </ul> </li> </ul> </li> </ul> Motion Types The database contains recordings for the robot executing two different motion types: vertical shaking of the object and rotation of the object. Materials The database contains recordings for 5 different material classes in the plastic container, as shown below: empty, vitamins, gummies, cornflakes, and rice. We used approximately the same volume of each material for each trial. We tested each material class and motion combination for a total of 10 different experimental conditions and collected 30 trials for each condition. The vertical motion dataset was entirely collected on 2021/08/25. The rotation dataset was split into two day. The empty, gummies and rice class data was collected on 2021/08/26. The vitamins and cornflakes classes were collected on 2021/09/13. Database Setup The database consists of the data in two formats: annotated ('annotated_bags_mml.zip') and unannotated/numbered filenames ('numbered_bags_mml.zip') datasets. The data in the two datasets are identical- the annotated filename dataset has the experimental descriptions in the filename directly (as described below). The annotated filenames dataset ('annotated_bags_mml.zip') consists of a single directory with all 300 rosbag datafiles (10 experimental conditions, 30 trials each). Each rosbag (<code>.bag</code>) is saved in the directory, with filename specified ('Date Recorded YYYYMMDD' + '_motion' + '_material' + '_trialID' + '.bag'). Motion Types are: {'vertical', 'rotation'}.  Materials are: {'empty', 'cornflakes', 'gummies', 'rice', 'vitamins'}. For each experimental condition, there are 30 datafiles with trial IDs from 0-29. All data recordings for the vertical motion have filenames: '20210825_vertical_+ 'material' + 'trialID' +'.bag). For the rotation motion, the empty, gummy and rice classes have filenames: '20210826_rotation_+ 'material' + 'trialID' +'.bag). For cornflakes and vitamins classes, the filenames are: '20210913_rotation_+ 'material' + 'trialID' +'.bag). The numbered/unannotated file dataset ('numbered_bags_mml.zip') consists of the same 300 data files as in the annotated dataset except here the filenames are numbered '{000-299}.bag'. The directory contains a spreadsheet ('annotations.csv') listing the experimental descriptions for each file name. The columns of the xls spreadsheet are {'Bagfile name', 'Year', 'Month', 'Day', 'Motion/Movement (mvt_type)', 'Material', 'Trial ID'}, where {Year, Month, Day} refer to the date that trial data was collected (either 2021/08/25, 2021/08/26, or 2021/09/13).

opencc-by-4.0Mar 2022View details →

Human-robot co-manipulation of soft materials: enable a robot manual guidance using a depth map feedback [Video]

Video of the paper submitted at RO-MAN 2022  Human-robot co-manipulation of soft materials: enable a robot manual guidance using a depth map feedback Giorgio Nicola, Enrico Villagrossi, Nicola Pedrocchi Code for trainings and test available at: https://github.com/giorgionicola/SMAHRCO

opencc-zeroDec 2021View details →

Dataset for dopamine manipulated daphnia

The neurotransmitter dopamine has been shown to play an important role in modulating behavioural, morphological and life-history responses to food abundance. However, costs of expressing high dopamine levels remain poorly studied and are essential for understanding the evolution of the dopamine system. Negative maternal effects on offspring size from enhanced maternal dopamine levels have previously been documented in Daphnia. Here, we tested whether this translates into fitness costs in terms of lower starvation resistance in offspring. We exposed Daphnia magna mothers to aqueous dopamine (2.3 mg/L or 0 mg/L for the control) at two food levels (ad libitum versus 30% ad libitum) and recorded a range of maternal life history traits. The longevity of their offspring was then quantified in the absence of food. In both control and dopamine treatments, mothers that experienced restricted food ration had lower somatic growth rates and higher age at maturation. Maternal food restriction also resulted in production of larger offspring that had a superior starvation resistance, compared to ad libitum groups. However, although dopamine exposed mothers produced smaller offspring than controls at restricted food ration, these smaller offspring survived longer under starvation. Hence, maternal dopamine exposure provided an improved offspring starvation resistance.

opencc-zeroMay 2022View details →

Telerobotic neurovascular interventions with magnetic manipulation

Advances in robotic technology have been adopted in various subspecialties of both open and minimally invasive surgery, offering benefits such as enhanced surgical precision and accuracy with reduced fatigue of the surgeon. Despite the advantages, robotic applications to endovascular neurosurgery have remained largely unexplored because of technical challenges such as the miniaturization of robotic devices that can reach the complex and tortuous vasculature of the brain. Although some commercial systems enable robotic manipulation of conventional guidewires for coronary and peripheral vascular interventions, they remain unsuited for neurovascular applications because of the considerably smaller and more tortuous anatomy of cerebral arteries. Here, we present a teleoperated robotic neurointerventional platform based on magnetic manipulation. Our system consists of a magnetically controlled guidewire, a robot arm with an actuating magnet to steer the guidewire, a set of motorized linear drives to advance or retract the guidewire and a microcatheter, and a remote-control console to operate the system under real-time fluoroscopy. We demonstrate our system's capability to navigate narrow and winding pathways both in vitro with realistic neurovascular phantoms representing the human anatomy and in vivo in the porcine brachial artery with accentuated tortuosity for preclinical evaluation. We further demonstrate telerobotically assisted therapeutic procedures including coil embolization and clot retrieval thrombectomy for treating cerebral aneurysms and ischemic stroke, respectively. Our system could enable safer and quicker access to hard-to-reach lesions while minimizing the radiation exposure to physicians and open the possibility of remote procedural services to address challenges in current stroke systems of care.

opencc-by-4.0Mar 2022View details →

Data from: Omnidirectional Manipulation of Microparticles on a Platform Subjected to Circular Motion Applying Dynamic Dry Friction Control

Data from the paper "Omnidirectional Manipulation of Microparticles on a Platform Subjected to Circular Motion Applying Dynamic Dry Friction Control" <a href="https://doi.org/10.3390/mi13050711">https://doi.org/10.3390/mi13050711</a> Currently used planar manipulation methods that utilize oscillating surfaces are usually based on asymmetries of time, kinematic, wave, or power types. This paper proposes a method for omnidirectional manipulation of microparticles on a platform subjected to circular motion, where the motion of the particle is achieved and controlled through the asymmetry created by dynamic friction control. The range of angles at which microparticles can be directed, and the average velocity were considered figures of merit. To determine the intrinsic parameters of the system that define the direction and velocity of the particles, a nondimensional mathematical model of the proposed method was developed, and modeling of the manipulation process was carried out. The modeling has shown that it is possible to direct the particle omnidirectionally at any angle over the full 2π range by changing the phase shift between the function governing the circular motion and the dry friction control function. The shape of the trajectory and the average velocity of the particle depend mainly on the width of the dry friction control function. An experimental investigation of omnidirectional manipulation was carried out by implementing the method of dynamic dry friction control. The experiments verified that the asymmetry created by dynamic dry friction control is technically feasible and can be applied for the omnidirectional manipulation of microparticles. The experimental results were consistent with the modeling results and qualitatively confirmed the influence of the control parameters on the motion characteristics predicted by the modeling. The study enriches the classical theories of particle motion on oscillating rigid plates, and it is relevant for the industries that implement various tasks related to assembling, handling, feeding, transporting, or manipulating microparticles.