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Distributed Sensor Networks Deployed Using Soft Growing Robots [article]

Alexander M. Gruebele, Andrew C. Zerbe, Margaret M. Coad, Allison M. Okamura, Mark R. Cutkosky
2021 arXiv   pre-print
Due to their ability to move without sliding relative to their environment, soft growing robots are attractive for deploying distributed sensor networks in confined spaces. Sensing of the state of such robots would also add to their capabilities as human-safe, adaptable manipulators. However, incorporation of distributed sensors onto soft growing robots is challenging because it requires an interface between stiff and soft materials, and the sensor network needs to undergo significant strain.
more » ... this work, we present a method for adding sensors to soft growing robots that uses flexible printed circuit boards with self-contained units of microcontrollers and sensors encased in a laminate armor that protects them from unsafe curvatures. We demonstrate the ability of this system to relay directional temperature and humidity information in hard-to-access spaces. We also demonstrate and characterize a method for sensing the growing robot shape using inertial measurement units deployed along its length, and develop a mathematical model to predict its accuracy. This work advances the capabilities of soft growing robots, as well as the field of soft robot sensing.
arXiv:2012.07899v2 fatcat:mgz226uoefe7rcl7hob3tfmo4u

Influence of TMAO on the Dynamics and Gelation of PNIPAm colloids

Alexander Orlow, Gerhard Gruebel
This thesis studies the dynamics of a colloidal suspension, consisting of concentrated nan-oparticles with a silica core and a polymer shell of poly(N-isopropylacrylamide) (PNIPAm)suspended in water. The thermosresponsive polymer PNIPAm is known for its volume phasetransition at a lower critical solution temperature (LCST) of about 32−33◦C. Below thistemperature, the polymer is hydrophilic and therefore swollen with water, whereas above theLCST, PNIPAm transforms into a hydrophobic state,
more » ... g to a contraction due to expelledwater molecules. This hydrophobic collapse is investigated by the method of Dynamic LightScattering (DLS) for various particle concentrations with volume fractions up to $Φ_{eff}$= 0.27.All samples are studied in a temperature range around the LCST, i.e. 15◦C < T < 42◦C, in a process of heating and subsequent cooling. Thus, the diffusion behaviour of the differentlydiluted samples is analysed and the hydrodynamic radius of the particles can be determined.Moreover, the naturally stabilizing osmolyte trimethylamine N-oxide (TMAO), which isknown to promote the folding process in proteins, is added as a co-solvent to the colloidalsuspension in concentrations of up to 2 mol/l. Increasing concentrations of TMAO are shownto raise the fluids' viscosity and decrease the size of the particles. Most importantly, TMAOis demonstrated to shift the LCST, at which the PNIPAm shell collapses, to lower temperat-ures as a squared monotonously decreasing function. After presenting a decrease in diffusionbehaviour for intermediate volume fractions, TMAO is shown to strongly change the dynam-ics in highly concentrated samples. Here, the intensity auto-correlation functions display theshape of a stretched exponential, induced by the occurrence of differently sized particles, ag-glomerations or distinctive dynamic domains. Through the technique of 3D DLS employedto reduce multiple scattering, the sample is found to be strongly opaque, which, togetherwith the observed arrangement of particles, is interpreted [...]
doi:10.3204/pubdb-2020-03904 fatcat:mynqs7lfqje6vjsv5rojdpgmny

High Pressure SAXS on Collodial Crystallite Suspensions

Martin Schroer, Fabian Westermeier, Felix Lehmkuehler, Sabrina Conrad, Alexander Schavkan, Alexey Zozulya, Birgit Fischer, Michael Sprung, Christian Gutt, Gerhard Gruebel
Ordered films and crystals made out of nanoparticles are interesting materials as they can exhibit exciting new optical properties and thus can be used e.g. as photonic crystals [1] . Crucial for the application of such systems is the degree of order of the nanoparticle arrays as well as their response to external stimuli, such as high pressure. In particular for colloidal films, special attention has to be paid to the local order within the nanoparticle arrays that depends on the underlying
more » ... ing process. Investigating the structure and orientational order of both thin films and crystals under external perturbations can be perfectly done with the X-ray cross correlation analysis (XCCA) technique [2] [3] [4] . Two studies, a) on thin colloidal films and b) on colloidal crystal suspensions employing this method will be discussed. First, we will present a scanning small angle X-ray scattering (SAXS) study using a nanometer size beam on dried nanoparticle films made out of a binary colloidal mixture of two particle species differing in size. Due to the small beam size only a finite number of particles give rise to the scattering signal. By scanning the sample, structure and composition of the films can be determined spatially resolved in terms of scattering intensity maps. The local type and degree of orientational order is revealed by studying the angular correlations of the scattering patterns via XCCA. Based on this X-ray cross correlation microscopy approach, spatial maps of the local degree of order are obtained that allow to identify specific differences in the local film structures formed by the two nanoparticle species [5] . In addition, we report on a recent SAXS and XCCA study on suspensions of colloidal crystals under high pressure. A complex pressure-dependence of the crystals is revealed, reflecting a delicate balance of water compression and changes of the electrostatic properties.
doi:10.3204/pubdb-2015-03680 fatcat:l5v7s64l2fefrnef2riyqkpvgy

Page 118 of Educational Administration Abstracts Vol. 18, Issue 1 [page]

1983 Educational Administration Abstracts  
., 209 Alexander, J. C., 115 Alston, J. G., 169 Angle, J., 186 Arnot, M., 163 Arvey, R. D., 061 Ashworth, K. H., 042 Ayandele, E. A., 177 Bailey, S.  ...  A., 225 Gruebel, J., 106 Guardo, C. J., 194 Haines, L., 084 Hannafin, M. J., 002 Hartmen, E. A., 080 Hata, D. M., 026 Hausman, W., 15! Hawley, K. M., 144 Hayes, A. C., 220 Haynes, D.  ... 

Page 606 of Journal of Physical Education, Recreation & Dance (JOPERD) Vol. 19, Issue 9 [page]

1948 Journal of Physical Education, Recreation & Dance (JOPERD)  
Nordly Alexander J. Stoddard Charles C. Wilson Catherine A. Worthingham C. W. Savage G. A. Huff S. C. Staley 1946 J. E. Schmidlin A. G. Ireland 1939 Anna Espenschade E. C. Schneider A. A.  ...  Fisher Otto Gruebel Emil Grooner A. K. Aldinger Rosalind Cassidy A. Lester Crapser Jessie R. Garrison Eugene W. Nixon Arthur H_ Steinhaus 1938 Virgil K. Brown Helen W. Hazelton Hiram A, Jones Guy S.  ... 

Page 39 of American Chiropractic Association. The ACA Journal of Chiropractic Vol. 18, Issue 3 [page]

1981 American Chiropractic Association. The ACA Journal of Chiropractic  
Helfet, A.J. and Gruebel Lee, D.M.: Disorders of the Lumbar Spine, Philadelphia, J.B. Lippincott Co., 1978. .  ...  Alexander, E., et al: ‘‘Anterior dislocation of first cer- vical vertebra simulating cerebral birth injury in in- fancy,” Am J Dis Child, 85:173-181, 1953.  ... 

Acknowledgement to Reviewers of Entropy in 2013

Entropy Editorial Office
2014 Entropy  
Gross, David Grosskinsky, Stefan Gruber, Andreas Gruebele, Martin Gryder, Berkley E.  ...  Goldstein Gompper, Gerhard Gorban, Alexander Gough, Michael Goyal, Philip Grabowicz, P.a. Graff, Grzegorz Graham, D. B.  ... 
doi:10.3390/e16021169 fatcat:tqadfkgsx5acnbnq3tgx4qwcxe

Acknowledgement to Reviewers of Entropy in 2014

Entropy Editorial Office
2015 Entropy  
Gruebele, Martin Guarino, S. Gude, Veera Gnaneswar © 2015 by the authors; licensee MDPI, Basel, Switzerland.  ...  Naudts, Jan Nease, Jake Nepomnyashchy, Alexander Nersesov, Sergey Newton, Nigel Ng, Che Tat Nicolaou, Nicoletta Nicolis, G. Nieuwenhuizen, Theo M.  ... 
doi:10.3390/e17010142 fatcat:3vyjrg5acfcohlu7l6txf2oeum

Folding Thermodynamics and Kinetics of Lambda-Repressor from All-Atom Molecular Dynamics Simulations

Yanxin Liu, Johan Strumpfer, Peter L. Freddolino, Martin Gruebele, Klaus Schulten
2012 Biophysical Journal  
proteins as well as for the study of protein folding. 2329-Pos Board B99 Comparison of Chemical and Thermal Protein Denaturation by Combination of Computational and Experimental Approaches Qian Wang 1 , Alexander  ... 
doi:10.1016/j.bpj.2011.11.2506 fatcat:5aba5tbe4zantmnh53a6c23stu

Fast Protein Refolding Observed in Pressure-Jump Molecular Dynamics Simulation

Yanxin Liu, Martin Gruebele, Klaus Schulten
2013 Biophysical Journal  
to understand the complex multiple-state and multiple-channel protein dynamics. 2040-Pos Board B59 Fast Protein Refolding Observed in Pressure-Jump Molecular Dynamics Simulation Yanxin Liu, Martin Gruebele  ...  introducing a few mutations that lead to stabilization of these critical contacts. 2044-Pos Board B63 Analyzing Protein Folding by High-throughput Simulations Claude Sinner, Benjamin Lutz, Abhinav Verma, Alexander  ... 
doi:10.1016/j.bpj.2012.11.2217 fatcat:cqr22nrejvgnxluqu36pijifnm

Page 75 of SMPTE Motion Imaging Journal Vol. 65, Issue 4 [page]

1956 SMPTE Motion Imaging Journal  
Riverdale — Gruebel, A Merkur, I. I Saperstein, J. Wuest, H. Almasawa, F. A. Gudtner, C. J Mersay, H. A. Sargente, M Wurzburg, F. L., Jr Hess, H. Guffanti Film Laborator- Mertz, P Sarra, V.  ...  H Vidor, Z Alexander, C. F Hope, T. W Lo Balbo, C. F RKO Radio Pictures, Volinsky, S Esau Iw Hopkins, R. E Loew's, Inc Inc Volmar, V Frazee, J. M Horowitz, P Lomas, S. A Robbins, A Walters, W.  ... 

Solvation dynamics of biomolecules: Modeling and terahertz experiments

David M Leitner, Martin Gruebele, Martina Havenith
2008 HFSP Journal  
MG also gratefully acknowledges a Bessel Prize of the Alexander von Humboldt Society, and DML acknowledges support from the Alexander von Humboldt Society and the FOR 618 during a stay in Bochum.  ...  Solvation dynamics . . . | Leitner, Gruebele, and Havenith HFSP Journal Vol. 2, December 2008  ...  Thus surface charge affects the THz response. (2) When coupled with Ala-Gly mutations (A37, 49 G) that greatly destabilize the protein (Yang and Gruebele, 2004) , the Tyr mutant shows a concentration  ... 
doi:10.2976/1.2976661 pmid:19436490 pmcid:PMC2645579 fatcat:bucor7h3bbgczbfrn4kuug2m4u

Acknowledgment of Reviewers, 2014

2014 Proceedings of the National Academy of Sciences of the United States of America  
Gross Hans-Peter Grossart Rudolf Grosschedl Arthur Grossman Jeffrey Grossman David Grossnickle Erich Grotewold Andy Groves Jay Groves Christina Grozinger Nicolas Gruber Oliver Gruber Martin Gruebele  ...  Sergei Grivennikov Joanna Groden Marcus Groettrup Peter Groffman Eduardo Groisman Eduardo Groissman Dena Gromet Georg Grön Wulfila Gronenberg Yoram Groner Ben Groom Jay Groppe Piet Gros Alexander  ... 
doi:10.1073/pnas.reviewers111 fatcat:ufjh2jwhjveihivxa6ztqinvva

Minisymposium 4: The Physics of Protein Folding/Unfolding

2008 Biophysical Journal  
Minisymposium 4: The Physics of Protein Folding/ Unfolding 2654-Minisymp Mutations as Trapdoors: The Rop-dimer with two Competing Native Conformations Alexander Schug, Jose' N.  ...  Gruebele, 2003, Nature, 423:193-197) , the convergence of our result with similar values for other folding and nonfolding sequences of similar length suggests that k diff may provide a general, approximately  ... 
doi:10.1016/s0006-3495(08)79161-6 fatcat:zrpj56zz6vc6zkwywn33xs5duu

Page 665 of The Kansas Historical Quarterly Vol. 21, Issue 8 [page]

The Kansas Historical Quarterly  
Halstead, Amelia, marriage, not Halstead, Mary, marriage, noted Halyard, William, Platte co., Mo., mar- riage, noted Hamilton, Alexander, papers of, note on, Hamilton, G. M., Ottawa co.  ...  ., gt ce. 817, 399 Gruebel, Annie, marriage, noted . 459 rund, ‘Catharine, marriage, noted 470 Guide books, notes on 187- 189 —, Wilson co., natural gas found satel 237, 238 Gunkel, Yay John E, ‘article  ... 
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