A compact fiber-optic Sagnac interferometer detects a genuine mechanical wave instead of displacement.This avoids the further signal processing for wave signal extraction as in displacement-based detection systems. However, due to both interfering lights coming from sample surface, the collected light in a fiber-optic-based Sagnac interferometer system is very weak when applied to biological tissue, where the refractive index of tissue and air are close. The objective of this paper is to study the feasibility using a compact fiber-optic Sagnac interferometer to detect vibrational waves on a biological tissue surface. An actuator made with a 10mm x 10mm x 3mm piezoelectric chip loaded on a 3D-printed polymer-made prism-shaped wedge (lcm xlcm xlcm) was used for ultrasound surface wave excitation. A bulk copolymer-in-oil phantom (100mm diameter with 27mm height) was used to mimic biological tissues. A compact fiber-optic-based interferometer was used to detect the propagation of surface waves in the tissue mimicking phantom and the wave propagation speeds were determined based on the wave detection. Young's modulus was calculated based on the measured wave speed on the phantom surface. A tensile testing machine was used to measure the Young's modulus in a compression mode as a comparison. The results were compared.

The Sagnac interferometer offers distinct advantages in vibrational wave detection. In this study, an air-coupled transducer and a compact fiber-optic Sagnac interferometer were developed for non-contact elasticity characterization in biological tissues. Given the challenge of limited light collection by a compact fiber optic Sagnac interferometer in biological tissues, this study aims to explore the potential of using a compact Sagnac interferometer to measure vibrational waves in biological tissues. The speeds of the generated vibrational surface waves in tissue-mimic phantoms were measured. Measurement errors caused by cross-correlation wave tracking were analyzed, and the performance of the integrated system was characterized. The results demonstrated the effectiveness of the integrated system and the cross-correlation algorithm in tracing the speed of vibrational surface waves in tissue-mimicking phantoms. They suggested potential applications for the non-invasive, contactless characterization of the mechanical properties in soft biological tissues.

This research presents the design, modeling, and control for a bio-inspired robotic hand with antagonistic variable stiffness (AVS). A key design character is the integrated modular finger unit. The modular finger unit is developed based on the variable stiffness actuation principle and has physical impact absorption and stiffness adjustment capabilities to achieve safer grasping and manipulation in interactions and adjustable system bandwidth. Compared with the design of the previous version, the finger unit is optimized in terms of mechanism, cable path, transmission gap, and manufacturing process, and specially designed torque sensors are added to achieve the force perception of the fingertip in three dimensions. A modularized finger unit integrating mechanical parts, sensors, and electronic devices with more compact size, higher precision, and low friction is developed, which eventually lead to the implementation of the fully actuated AVS hand with three fingers and eight degrees of freedom (DOF). The hand controller hardware developed based on a field programmable gate array (FPGA) chip is integrated in the palm. These have guaranteed the real-time and stable grasping and manipulation performance of the hand.

In shear wave-based material mechanical characterization, the transmit/receiver transducer is generally in contact with the material through a coupling medium. In many applications, especially in biological tissue-related characterization, the application of the coupling medium and the contact method are not ideal, sometimes even unacceptable, due to contamination or stress response concerns. To avoid contact, we developed a 1 MHz air-coupled focused PZT transducer as a moderate pressure generator that could induce a shear wave in soft material and a fiber optic-based Sagnac system for the detection of the propagating shear wave. A calibration indicated that the fabricated air-coupled focused PZT transducer could generate pressure above 1 KPa within its focal range. This pressure is three to five times as much as the pressure generated by a 1 MHz air-coupled transducer currently available on the market. The integrated system was demonstrated through shear wave generation by the fabricated air-coupled PZT transducer and shear wave detection by the fiber optic Sagnac system in a nylon membrane. The results demonstrated the capability of the integrated system in non-contact material mechanical characterization, such as in material modulus measurement.

In this paper, we numerically simulate the photoacoustic signal waveforms based on the Huygens-Fresnel principle. In this model, laser absorption medium which is the source of generating photoacoustic signal is divided into microspheres. A N-shaped carrier ultrasonic spherical wave is generated by each microsphere due to the absorption of short laser pulse and propagates outwards from the sphere center. The N-shaped waves reach the detection point through the direct propagation and the reflection from the medium interface. The photoacoustic signal generated by the overall absorption medium detected in the observation point is calculated as the summation of all these individual N-shaped photoacoustic waves including the original and reflected waves by considering the temporal delay and attenuation induced by the propagation distance. The envelope of the resulted summation is the transducer-detectable photoacoustic signal waveform. The photoacoustic signal profiles and spectra under different media interface boundary conditions and propagation distances are studied. The effect of optical absorption to photoacoustic signal bandwidth is studied as well. This numerical investigation demonstrates the formation of the detected photoacoustic signals and improves the understanding of the mechanism of the photoacoustic signal generation.

With the development of robotics in recent years, space robotic manipulators have become a research focus on space technologies. In the TianGong-2 (TG-2) spacelab mission, a human-robot collaborative on-orbit servicing experiment was planned as one of the three key tasks. The central component of this task is the TG-2 robotic manipulator, which is a multisensory in-vehicle space robot with multiple control modes, including a 6-DOF robotic arm, a five-fingered humanoid hand, hand-eye and global cameras, and on-orbit human-machine interfaces(space mouse and cyber glove). The design purpose of TG-2 robotic task is to complete various prototypical experiments under micro-g environment to validate key technologies of space robots and on-orbit human-robot collaboration and gain experience and experimental data about robotic on-orbit servicing by assisting or cooperating with human astronauts. A variable time-scale motion plan method, which could adjusts the trajectories of the robot to reduce or eliminate the collision force between the robot collide with the environment, is developed for safe human-robot collaboration. The five-fingered hand grasp control is based on an approach coined as “coordinated grasp control based object Cartesian stiffness” for the adaptation of external forces and robust grasp. To solve the kinematic mapping from cyber glove commands to five-fingered robotic hand, a fingertip-position-based method is proposed to acquire precise solutions. The TG-2 robotic manipulator was launched to space in Sep. 15, 2016. From Oct. 27 to Nov. 13, 2016, all the planned experiments, including dynamic parameter identification, grasping floating objects and prototypical on-orbit servicing, were carried out successfully under the supervision and assistance of the two astronauts, laying foundations for the future applications of space robots.

以七自由度冗余空间机械臂为研究对象,对其进行多目标综合轨迹规划研究.为了得到速度和加速度都连续的关节轨迹,首先采用三次均匀B样条曲线构造机械臂的关节空间轨迹.然后分别以机械臂运动时间最短、能量消耗最少和轨迹冲击性最小作为优化目标,以机械臂的关节位移、速度、加速度和关节力矩的限制作为约束条件,建立空间机械臂多目标轨迹规划问题的数学模型.最后使用NSGA-Ⅱ算法进行数学模型求解,获得空间机械臂多目标轨迹规划问题的Pareto最优解集.仿真结果表明,在满足各项约束条件的前提下,所获得的机械臂关节空间轨迹能够达到使机械臂的多个性能指标综合最优的效果.

The contrast in laser speckle imaging with controlled polarization conditions for illumination and imaging was studied in a blood vessel mimic flow phantom. Either linear or circular polarization was used to illuminate samples. The polarization in imaging was controlled, to be either orthogonal (cross) or parallel to the polarization of the illumination beam. Temporal contrast imaging, was obtained by calculating the pixelwise contrast among a series of successfully recorded snapshot images. Then, temporal-spatial contrast imaging was calculated from temporal contrast imaging by calculating the spatial contrast among the pixels in a temporal contrast image. The results have shown that the parallel polarization setting had a near doubled contrast dynamic range compared to the cross polarization setting. Linear polarization and circular polarization did not show significant differences in contrast dynamic range. The results obtained here can be generally applied to all laser speckle based imaging, because they are all interference based imaging, and it is suggested that parallel polarization imaging setting can be considered for a better imaging contrast between flow and solid tissue background. In addition, in a preliminary flow speed test, the temporal-spatial contrast values did not show a statistical difference among different flow speeds due to the current experiment settings.

This paper presents, for the first time, versatile and low-cost miniature liquid lenses with graphene as electrodes. Tunable focal length is achieved by changing the droplet curvature using electrowetting on dielectric (EWOD). Ionic liquid and KCl solution are utilized as lens liquid on the top of a flexible Teflon-coated PDMS/parylene membrane. Transparent and flexible, graphene allows transmission of visible light as well as large deformation of the polymer membrane to achieve requirements for different lens designs and to increase the field of view without damaging of electrodes. The tunable range for the focal length is between 3 and 7 mm for a droplet with a volume of 3 mu L. The visualization of bone marrow dendritic cells is demonstrated by the liquid lens system with a high resolution (456 lp/mm).

Because of depth-dependent light attenuation, bulky, low-repetition-rate lasers are usually used in most photoacoustic (PA) systems to provide sufficient pulse energies to image at depth within the body. However, integrating these lasers with real-time clinical ultrasound (US) scanners has been problematic because of their size and cost. In this paper, an integrated PA/US (PAUS) imaging system is presented operating at frame rates >30 Hz. By employing a portable, low-cost, low-pulse-energy (~2 mJ/pulse), high-repetition-rate (~1 kHz), 1053-nm laser, and a rotating galvo-mirror system enabling rapid laser beam scanning over the imaging area, the approach is demonstrated for potential applications requiring a few centimeters of penetration. In particular, we demonstrate here real-time (30 Hz frame rate) imaging (by combining multiple single-shot sub-images covering the scan region) of an 18-gauge needle inserted into a piece of chicken breast with subsequent delivery of an absorptive agent at more than 1-cm depth to mimic PAUS guidance of an interventional procedure. A signal-to-noise ratio of more than 35 dB is obtained for the needle in an imaging area 2.8 × 2.8 cm (depth × lateral). Higher frame rate operation is envisioned with an optimized scanning scheme.

Laser ultrasonic (LU) inspection represents an attractive, non-contact method to evaluate composite materials. Current non-contact systems, however, have relatively low sensitivity compared to contact piezoelectric detection. They are also difficult to adjust, very expensive, and strongly influenced by environmental noise. Here, we demonstrate that most of these drawbacks can be eliminated by combining a new generation of compact, inexpensive fiber lasers with new developments in fiber telecommunication optics and an optimally designed balanced probe scheme. In particular, a new type of a balanced fiber-optic Sagnac interferometer is presented as part of an all-optical LU pump-probe system for high speed non-destructive testing and evaluation (NDT&E) of aircraft composites. The performance of the LU system is demonstrated on a composite sample typically used in the aircraft industry. Wide-band ultrasound probe signals are generated directly at the sample surface with a pulsed diode-pumped laser delivering nanosecond laser pulses at a 1 kHz repetition rate with a pulse energy of 2 mJ. A balanced fiber-optic Sagnac interferometer is employed to detect pressure signals in a 1-10 MHz frequency range at the same point (an 8 mu m focal spot) on the composite surface. A fast (up to 100 mm/s) 2D translation system is employed to move the sample during scanning and produce a complete B-scan consisting of one thousand A-scans in less than a second. The sensitivity of this system, in terms of the noise equivalent pressure, is found to be only 10 dB above the Nyquist thermal noise limit. To our knowledge, this is the best reported sensitivity for a non-contact ultrasonic detector of this dimension.

Ultrasound-guided photoacoustic imaging has shown great potential for many clinical applications including vascular visualization, detection of nanoprobes sensing molecular profiles, and guidance of interventional procedures. However, bulky and costly lasers are usually required to provide sufficient pulse energies for deep imaging. The low pulse repetition rate also limits potential real-time applications of integrated photoacoustic/ultrasound (PAUS) imaging. With a compact and low-cost laser operating at a kHz repetition rate, we aim to integrate photoacoustics (PA) into a commercial ultrasound (US) machine utilizing an interleaved scanning approach for clinical translation, with imaging depth up to a few centimeters and frame rates > 30 Hz. Multiple PA sub-frames are formed by scanning laser firings covering a large scan region with a rotating galvo mirror, and then combined into a final frame. Ultrasound pulse-echo beams are interleaved between laser firings/PA receives. The approach was implemented with a diode-pumped laser, a commercial US scanner, and a linear array transducer. Insertion of an 18-gauge needle into a piece of chicken tissue, with subsequent injection of an absorptive agent into the tissue, was imaged with an integrated PAUS frame rate of 30 Hz, covering a 2.8 cm × 2.8 cm imaging plane. Given this real-time image rate and high contrast (> 40 dB at more than 1-cm depth in the PA image), we have demonstrated that this approach is potentially attractive for clinical procedure guidance.

Integrating high contrast bubbles from ultrasound imaging with plasmonic absorbers from photoacoustic imaging is investigated. Nanoemulsion beads coated with gold nanopsheres (NEB-GNS) are excited with simultaneous light (transient heat at the GNS's) and ultrasound (rarefactional pressure) resulting in a phase transition achievable under different scenarios, enhancing laser-induced acoustic signals and enabling specific detection of nanoprobes at lower concentration. An automated platform allowed dual parameter scans of both pressure and laser fluence while recording broadband acoustic signals. Two types of NEB-GNS and individual GNS were investigated and showed the great potential of this technique to enhance photoacoustic/acoustic signals. The NEB-GNS size distribution influences vaporization thresholds which can be reached at both permissible ultrasound and light exposures at deep penetration and at low concentrations of targets. This technique, called sono-photoacoustics, has great potential for targeted molecular imaging and therapy using compact nanoprobes with potentially high-penetrability into tissue.

Ultrasound (US) needle tracking with a real-time, portable imaging system is common for biopsies and therapeutic injections. However, proper US probe-needle orientation is required or tracking precision is lost because of poor US contrast and additional artifacts. In contrast, the strong photoacoustic (PA) signal from a needle is relatively independent of light orientation. Unfortunately, a bulky, slow (10s of Hz) laser is usually required for sufficient pulse energy at centimeters depth inside the body, hindering PA integration into a real-time US scanner. We employ a compact, low-cost, low pulse energy (1 mJ/pulse) laser that can operate at 10s of kHz to construct an integrated US/PA system with frame rates higher than 30 Hz. A scanning approach with a rotating galvo mirror was used by combining multiple laser shots covering a large scan region to form an integrated image. Multiple pulse-echo US focused beams were formed between laser firings. Insertion of an 18-gauge needle in a piece of chicken breast tissue, and subsequent injection of an absorptive agent through the needle, was imaged. The PA image displays the needle at higher contrast (> 30 dB) than the US image, even at a depth of 12 mm where light energy has largely decayed, demonstrating the potential of the current scanning system for real-time needle guidance. An improved frame rate is envisioned with an optimized scan scheme.

A nanoemulsion contrast agent with a perfluorohexane core and optically absorptive gold nanospheres (GNSs) assembled on the surface, is presented to improve the specificity of photoacoustic (PA) molecular imaging in differentiating targeted cells or aberrant regions from heterogeneous background signals. Compared to distributed GNSs, clustered GNSs at the emulsion oil-water interface produce a red-shifted and broadened absorption spectrum, exhibiting fairly high absorption in the near-infrared region commonly used for deep tissue imaging. Above a certain laser irradiation fluence threshold, a phase transition creating a microbubble in the emulsion core leads to more than 10 times stronger PA signals compared with conventional thermal-expansion-induced PA signals. These signals are also strongly non-linear, as verified by a differential scheme using recorded PA images at different laser fluences. Assuming a linear relation between laser fluence and the PA signal amplitude, differential processing results in nearly perfect suppression of linear sources, but retains a significant residue for the non-linear nanoemulsion with more than 35 dB enhancement. This result demonstrates that contrast specificity can be improved using the nanoemulsion as a targeting agent in PA molecular imaging by suppressing all background signals related to a linear PA response. Furthermore, combined with a system providing simultaneous laser/ultrasound excitation, cavitation-generated bubbles have the potential to be a highly specific contrast agent for ultrasound molecular imaging and harmonic imaging, as well as a targeted means for noninvasive ultrasound-based therapies.

A composite contrast agent, a nanoemulsion bead with assembled gold nanospheres at the interface, is proposed to improve the specific contrast of photoacoustic molecular imaging. A phase transition in the bead's core is induced by absorption of a nanosecond laser pulse with a fairly low laser fluence (∼3.5 mJ/cm2), creating a transient microbubble through dramatically enhanced thermal expansion. This generates nonlinear photoacoustic signals with more than 10 times larger amplitude compared to that of a linear agent with the same optical absorption. By applying a differential scheme similar to ultrasound pulse inversion, more than 40 dB contrast enhancement is demonstrated with suppression of background signals.

Due to the high scattering coefficient of tissue over the wavelength range used for photoacoustic (PA) imaging, most studies employ bulky, low repetition rate lasers to provide sufficient pulse energies at depth to image within the body. The size and cost of these lasers has impeded integration of photoacoustics into conventional, routinely-used ultrasound (US) scanners. Here, we present an approach leveraging the capabilities of modern, high repetition rate fiber lasers to produce a clinically translatable system providing integrated US/PA images at frame rates > 30 Hz. The system uses a portable, low-cost, low pulse-energy (1 mJ/pulse), high repetition rate (1 kHz), 1064 nm laser and is designed for integrated US/PA imaging of the peripheral vasculature or any relevant diseased region, such as a tumor. Using a rotating galvo-mirror system, the incident laser beam is quickly scanned over the imaging area. Multiple PA images covering the scan area are integrated to form a single PA image. Additionally, ultrasound firings are integrated into the scan sequence to provide an US image reconstructed over the same frame period. We acquired PA images of a 1.5-mm-diameter cylindrical absorber (absorption coefficient 5 cm(-1)) embedded in a tissue-mimicking gelatin phantom at 6-cm depth. A 2 cm x 1 cm (depth x lateral) area was reconstructed. We obtained a signal-to-noise ratio of more than 30 dB, comparable to conventional PA methods using high energy, low repetition rate lasers. The current system produces an integrated US/PA frame at a 32 Hz rate, and 100 Hz frame rates are possible with our present approach.

Laser-ultrasonics is an attractive and powerful tool for the non-destructive testing and evaluation (NDT&E) of composite materials. Current systems for non-contact detection of ultrasound have relatively low sensitivity compared to contact peizotransducers. They are also expensive, difficult to adjust, and strongly influenced by environmental noise. Moreover, laser-ultrasound (LU) systems typically launch only about 50 firings per second, much slower than the kHz level pulse repetition rate of conventional systems. As demonstrated here, most of these drawbacks can be eliminated by combining a new generation of compact, inexpensive, high repetition rate nanosecond fiber lasers with new developments in fiber telecommunication optics and an optimally designed balanced probe beam detector. In particular, a modified fiber-optic balanced Sagnac interferometer is presented as part of a LU pump-probe system for NDT&E of aircraft composites. The performance of the all-optical system is demonstrated for a number of composite samples with different types and locations of inclusions.

Laser ultrasonic (LU) inspection represents an attractive, non-contact method to evaluate composite materials. Current non-contact systems, however, have relatively low sensitivity compared to contact piezoelectric detection. They are also difficult to adjust, very expensive, and strongly influenced by environmental noise. Here, we demonstrate that most of these drawbacks can be eliminated by combining a new generation of compact, inexpensive fiber lasers with new developments in fiber telecommunication optics and an optimally designed balanced probe scheme. In particular, a new type of a balanced fiber-optic Sagnac interferometer is presented as part of an all-optical LU pump-probe system for non-destructive testing and evaluation of aircraft composites. The performance of the LU system is demonstrated on a composite sample with known defects. Wide-band ultrasound probe signals are generated directly at the sample surface with a pulsed fiber laser delivering nanosecond laser pulses at a repetition rate up to 76 kHz rate with a pulse energy of 0.6 mJ. A balanced fiber-optic Sagnac interferometer is employed to detect pressure signals at the same point on the composite surface. A- and B-scans obtained with the Sagnac interferometer are compared to those made with a contact wide-band polyvinylidene fluoride transducer.