Per Henrik Borgstrom

NIMS-PL: A Cable-Driven Robot With Self-Calibration Capabilities

We present the Networked InfoMechanical System for Planar Translation, which is a novel two-degree-of-freedom (2-DOF) cable-driven robot with self-calibration and online drift-correction capabilities. This system is intended for actuated sensing applications in aquatic environments. The actuation redundancy resulting from in-plane translation driven by four cables results in an infinite set of tension distributions, thus requiring real-time computation of optimal tension distributions. To this end, we have implemented a highly efficient, iterative linear programming solver, which requires a very small number of iterations to converge to the optimal value. In addition, two novel self-calibration methods have been developed that leverage the robots actuation redundancy. The first uses an incremental displacement, or jitter method, whereas the second uses variations in cable tensions to determine end-effector location. We also propose a novel least-squares drift-detection algorithm, which enables the robot to detect long-term drift. Combined with self-calibration capabilities, this drift-monitoring algorithm enables long-term autonomous operation. To verify the performance of our algorithms, we have performed extensive experiments in simulation and on a real system.

Design and Implementation of NIMS3D, a 3-D Cabled Robot for Actuated Sensing Applications

We present NIMS3D, a novel 3-D cabled robot for actuated sensing applications. We provide a brief overview of the main hardware components. Next, we describe installation procedures, including novel calibration methods, that enable rapid in-field deployability for nonexpert end users, and provide simulations and experimental results to highlight their effectiveness. Kinematic and dynamic analysis of the system are provided, followed by a description of control methods. We provide experimental results that illustrate tracking of linear and nonlinear paths by NIMS3D. Thereafter, we briefly present an example of an actuated sensing task performed by the system. Finally, we describe methods of improving energy efficiency by leveraging nonlinear trajectories and energy-optimal tension distributions. Experimental and simulated results show that energy efficiency can be improved significantly by using optimized parabolic trajectories. Furthermore, we provide simulation results that demonstrate improved efficiency enabled by optimal, least norm tension distributions.

In vivo proteomic imaging analysis of caveolae reveals pumping system to penetrate solid tumors

Technologies are needed to map and image biological barriers in vivo that limit solid tumor delivery and, ultimately, the effectiveness of imaging and therapeutic agents. Here we integrate proteomic and imaging analyses of caveolae at the blood-tumor interface to discover an active transendothelial portal to infiltrate tumors. A post-translationally modified form of annexin A1 (AnnA1) is selectively concentrated in human and rodent tumor caveolae. To follow trafficking, we generated a specific AnnA1 antibody that targets caveolae in the tumor endothelium. Intravital microscopy of caveolae-immunotargeted fluorophores even at low intravenous doses showed rapid and robust pumping across the endothelium to enter mammary, prostate and lung tumors. Within 1 h, the fluorescence signal concentrated throughout tumors to exceed the peak levels in blood. This transvascular pumping required the expression of caveolin 1 and annexin A1. Tumor uptake with other antibodies were >100-fold less. This proteomic imaging strategy reveals a unique target, antibody and caveolae pumping system for solid tumor penetration.

Designed auto-assembly of nanostreptabodies for rapid tissue-specific targeting in vivo

Molecular medicine can benefit greatly from antibodies that deliver therapeutic and imaging agents to select organs and diseased tissues. Yet the development of complex and defined composite nanostructures remains a challenge that requires both designed stoichiometric assembly and superior in vivo testing ability. Here, we generate nanostructures called nanostreptabodies by controlled sequential assembly of biotin-engineered antibody fragments on a streptavidin scaffold with a defined capacity for additional biotinylated payloads such as other antibodies to create bispecific antibodies as well as organic and non-organic moieties. When injected intravenously, these novel and stable nanostructures exhibit exquisite targeting with tissue-specific imaging and delivery, including rapid transendothelial transport that enhances tissue penetration. This “tinkertoy construction” strategy provides a very flexible and efficient way to link targeting vectors with reporter and/or effector agents, thereby providing virtually endless combinations potentially useful for multipurpose molecular and functional imaging in vivo as well as therapies.

Energy based path planning for a novel cabled robotic system

Cabled robotic systems have been used for a diverse set of applications such as environmental sensing, search and rescue, sports and entertainment and air vehicle simulators. In this paper, we introduce a new cabled robot- Networked Info Mechanical System for Planar actuation (NIMS-PL), with energy profiling capabilities. Accurate energy measurements supported by NIMS-PL enable path planning that optimizes the robotpsilas path subject to an upper bound on energy consumption. We performed extensive empirical validation of the optimized path planning approach in simulation using an environmental sensing application as an example. We also validated the simulation results using NIMS-PL, demonstrating significant improvements in the sensing task when accounting with accurate energy measurements as opposed to Euclidean distance, which is typically used for modeling energy spent in path traversal.

Use of Inertial Sensors to Predict Pivot-Shift Grade and Diagnose an ACL Injury During Preoperative Testing

Background: The pivot-shift (PS) examination is used to demonstrate knee instability and detect anterior cruciate ligament (ACL) injury. Prior studies using inertial sensors identified the ACL-deficient knee with reasonable accuracy, but none addressed the more difficult problem of using these sensors to determine whether a subject has an ACL deficiency and to correctly assign a PS grade to a patient’s knee. Hypothesis: Inertial sensor data recorded during a PS examination can accurately predict ACL deficiency and the PS score assigned by the examining physician. Study Design: Cohort study (diagnosis); Level of evidence, 2. Methods: A total of 32 patients with unilateral ACL deficiency and 29 with intact ACLs in both knees had inertial sensor modules strapped to the tibia and femur of each limb for preoperative PS testing under anesthesia. Support vector machine (SVM) methods assessed PS grades on the basis of these data, with the examiner’s clinical grading shift used as ground truth. A fusion of regression and SVM classification techniques diagnosed ACL deficiency. Results: The clinically determined PS grades of all 122 knees were as follows: 0 (n = 69), +1 (n = 23), +2 (n = 27), and +3 (n = 3). The SVM classification analysis was 77% accurate in correctly classifying these grades, with 98% of computed PS grades falling within ±1 grade of the clinically determined value. The system fusion algorithm diagnosed ACL deficiency in an individual with an overall accuracy of 97%. This method yielded 6% false negatives and 0% false positives. Conclusion: This study used inertial sensor technology with SVM algorithms to accurately determine clinically assigned PS grades in ACL-intact and ACL-deficient knees. By extending the assessment to a separate group of patients without ACL injury, the inertial sensor data demonstrated highly accurate diagnosis of ACL deficiency.

NIMS3D: A Novel Rapidly Deployable Robot for 3-Dimensional Applications

In this paper, we present NIMS3D, a novel, rapidly deployable cable based robotic system capable of accurate positioning within its 3-dimensional span. The system is designed for indoor and outdoor use. In NIMS3D, a node moves via three cables which enable navigation in the 3D volume spanned by the system. The hardware is composed primarily of commercially available components and the software consists of three tiers: low level motor control, motion planning, and user interface. The proposed system has health monitoring capabilities that seek to ensure that robot integrity is not compromised. We provide theoretical and empirical analysis of system characteristics and present results that advocate its use for a variety of applications such as topographical and optical intensity mapping. Finally, we propose a number of future enhancements and plans for the system

Weighted barrier functions for computation of force distributions with friction cone constraints

We present a novel Weighted Barrier Function (WBF) method of efficiently computing optimal grasping force distributions for multifingered hands. Second-order conic friction constraints are not linearized, as in many previous works. The force distributions are smooth and rapidly computable, and they enable flexibility in selecting between firm, stable grasps or looser, more efficient grasps. Furthermore, fingers can be disengaged and re-engaged in a smooth manner, which is a critical capability for a large number of manipulation tasks. We present efficient solution methods that do not incur the increased computational complexity associated with solving the Semi-Definite Programming formulations presented in previous works. We present results from static and dynamic simulations which demonstrate the flexibility and computational efficiency associated with WBF force distributions.

Generation of energy efficient trajectories for NIMS3D, a three-dimensional cabled robot

In this paper we describe an algorithm to generate energy efficient trajectories for NIMS3D, a three-dimensional cabled robotic platform. Optimized parabolic paths are used to exploit the relatively low I2R loss associated with operation in lower regions of the workspace. Trajectory optimization is sufficiently fast to enable real time operation. Experimental results on a physical system for a three cable deployment show substantial reductions in energy consumption as compared to linear trajectories.

Co-implanting orthotopic tissue creates stroma microenvironment enhancing growth and angiogenesis of multiple tumors.

Tumor models are needed to study cancer. Noninvasive imaging of tumors under native conditions in vivo is critical but challenging. Intravital microscopy (IVM) of subcutaneous tumors provides dynamic, continuous, long-term imaging at high resolution. Although popular, subcutaneous tumor models are often criticized for being ectopic and lacking orthotopic tissue microenvironments critical for proper development. Similar IVM of orthotopic and especially spontaneous tumors is seldom possible. Here, we generate and characterize tumor models in mice for breast, lung, prostate and ovarian cancer by co-engrafting tumor spheroids with orthotopic tissue in dorsal skin window chambers for IVM. We use tumor cells and tissue, both genetically engineered to express distinct fluorescent proteins, in order to distinguish neoplastic cells from engrafted tissue. IVM of this new, two-colored model reveals classic tumor morphology with red tumor cell nests surrounded by green stromal elements. The co-implanted tissue forms the supportive stroma and vasculature of these tumors. Tumor growth and angiogenesis are more robust when tumor cells are co-implanted with orthotopic tissue versus other tissues, or in the skin alone. The orthotopic tissue promotes tumor cell mitosis over apoptosis. With time, tumor cells can adapt to new environments and ultimately even grow better in the non-orthotopic tissue over the original orthotopic tissue. These models offer a significant advance by recreating an orthotopic microenvironment in an ectopic location that is still easy to image by IVM. These “ectopic-orthotopic” models provide an exceptional way to study tumor and stroma cells in cancer, and directly show the critical importance of microenvironment in the development of multiple tumors.