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Robots designed to interact with people in collaborative or social scenarios must move in ways that are consistent with the robot's task and communication goals. However, combining these goals in a naïve manner can result in mutually exclusive solutions, or infeasible or problematic states and actions. In this paper, we present Lively, a framework which supports configurable, real-time, task-based and communicative or socially-expressive motion for collaborative and social robotics across multiple levels of programmatic accessibility. Lively supports a wide range of control methods (i.e. position, orientation, and joint-space goals), and balances them with complex procedural behaviors for natural, lifelike motion that are effective in collaborative and social contexts. We discuss the design of three levels of programmatic accessibility of Lively, including a graphical user interface for visual design called LivelyStudio, the core library Lively for full access to its capabilities for developers, and an extensible architecture for greater customizability and capability. 

The eukaryotic cytoskeleton plays essential roles in cell signaling and trafficking, broadly associated with immunity and diseases in humans and plants. To date, most studies describing cytoskeleton dynamics and function rely on qualitative/quantitative analyses of cytoskeletal images. While state-of-the-art, these approaches face general challenges: the diversity among filaments causes considerable inaccuracy, and the widely adopted image projection leads to bias and information loss. To solve these issues, we developed the Implicit Laplacian of Enhanced Edge (ILEE), an unguided, high-performance approach for 2D/3D-based quantification of cytoskeletal status and organization. Using ILEE, we constructed a Python library to enable automated cytoskeletal image analysis, providing biologically interpretable indices measuring the density, bundling, segmentation, branching, and directionality of the cytoskeleton. Our data demonstrated that ILEE resolves the defects of traditional approaches, enables the detection of novel cytoskeletal features, and yields data with superior accuracy, stability, and robustness. The ILEE toolbox is available for public use through PyPI and Google Colab. 

Probe is the core component of an optical scanning probe microscope such as scattering-type scanning near-field optical microscopy (s-SNOM). Its ability of concentrating and localizing light determines the detection sensitivity of nanoscale spectroscopy. In this paper, a novel plasmonic probe made of a gradient permittivity material (GPM) is proposed and its nanofocusing performance is studied theoretically and numerically. Compared with conventional plasmonic probes, this probe has at least two outstanding advantages: First, it doesn't need extra structures for surface plasmon polaritons (SPPs) excitation or localized surface plasmon resonance (LSPR), simplifying the probe system; Second, the inherent nanofocusing effects of the conical probe structure can be further reinforced dramatically by designing the distribution of the probe permittivity. As a result, the strong near-field enhancement and localization at the tip apex improve both spectral sensitivity and spatial resolution of a s-SNOM. We also numerically demonstrate that a GPM probe as well as its enhanced nanofocusing effects can be realized by conventional semiconductor materials with designed doping distributions. The proposed novel plasmonic probe promises to facilitate subsequent nanoscale spectroscopy applications. 

Autonomous vehicles (AVs) are on the verge of changing the transportation industry. Despite the fast development of autonomous driving systems (ADSs), they still face safety and security challenges. Current defensive approaches usually focus on a narrow objective and are bound to specific platforms, making them difficult to generalize. To solve these limitations, we propose AVMaestro, an efficient and effective policy enforcement framework for full-stack ADSs. AVMaestro includes a code instrumentation module to systematically collect required information across the entire ADS, which will then be feed into a centralized data examination module, where users can utilize the global information to deploy defensive methods to protect AVs from various threats. AVMaestro is evaluated on top of Apollo-6.0 and experimental results confirm that it can be easily incorporated into the original ADS with almost negligible run-time delay. We further demonstrate that utilizing the global information can not only improve the accuracy of existing intrusion detection methods, but also potentially inspire new security applications. 

Connexins form intercellular communication channels, known as gap junctions (GJs), that facilitate diverse physiological roles, from long-range electrical and chemical coupling to coordinating development and nutrient exchange. GJs formed by different connexin isoforms harbour unique channel properties that have not been fully defined mechanistically. Recent structural studies on Cx46 and Cx50 defined a novel and stable open state and implicated the amino-terminal (NT) domain as a major contributor for isoform-specific functional differences between these closely related lens connexins. To better understand these differences, we constructed models corresponding to wildtype Cx50 and Cx46 GJs, NT domain swapped chimeras, and point variants at the 9th residue for comparative molecular dynamics (MD) simulation and electrophysiology studies. All constructs formed functional GJ channels, except the chimeric Cx46-50NT variant, which correlated with an introduced steric clash and increased dynamical behaviour (instability) of the NT domain observed by MD simulation. Single channel conductance correlated well with free-energy landscapes predicted by MD, but resulted in a surprisingly greater degree of effect. Additionally, we observed significant effects on transjunctional voltage-dependent gating (Vj gating) and/or open state dwell times induced by the designed NT domain variants. Together, these studies indicate intra- and inter-subunit interactions involving both hydrophobic and charged residues within the NT domains of Cx46 and Cx50 play important roles in defining GJ open state stability and single channel conductance, and establish the open state Cx46/50 structural models as archetypes for structure–function studies targeted at elucidating GJ channel mechanisms and the molecular basis of cataract-linked connexin variants. 

A second-generation Ni-based superalloy has been directionally solidified by using a Bridgman method, and the key processing steps have been investigated with a focus on their effects on microstructure evolution and mechanical properties. The as-grown microstructure is of a typical dendrite structure with microscopic elemental segregation during solidification. Based on the microstructural evidence and the measured phase transformation temperatures, a step-wise solution treatment procedure is designed to effectively eliminate the compositional and microstructural inhomogeneities. Consequently, the homogenized microstructure consisting of γ/γ′ phases (size of γ′ cube is ~400 nm) have been successfully produced after a two-step (solid solution and aging) treatment. The mechanical properties of the resulting alloys with desirable microstructures at room and elevated temperatures are measured by tensile tests. The strength of the alloy is comparable to commercial monocrystalline superalloys, such as DD6 and CMSX-4. The fracture modes of the alloy at various temperatures have also been studied and the corresponding deformation mechanisms are discussed.