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Data-Driven Stiffness Modeling and Design Optimization of Flexible Backbones for Modular Cable-Driven Continuum Robots

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IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 2025年第4期21卷 3137-3146页

作者： Shen, Wenjun Yang, Guilin He, Jianhui qian, shuwen Bai, Haotian Zheng, Tianjiang Fang, Zaojun Ningbo Inst Mat Technol & Engn Ningbo 315201 Peoples R China Univ Nottingham Ningbo 315100 Peoples R China

Most bioinspired cable-driven continuum robots (CDCRs) usually employ a flexible backbone to realize the continuous deflection. For the CDCR to merely produce bending motions, its flexible backbone has to be designed with low bending stiffness but high tensile and torsion stiffness. In this article, a pattern-based design approach is employed for the flexible backbone, which adopts rectangle-shaped patterns inspired by elastic couplings. As it is rather difficult to derive accurate analytical stiffness models for such a pattern-based backbone structure with large nonlinear deflections, a novel data-driven stiffness modeling approach is proposed. The Gaussian process regression method is employed to train the stiffness model with respect to structure parameters of the backbone, while the dataset is generated through a commercial finite element analysis software package. To narrow the distribution of the training data and make the predicated stiffness values always positive, the natural logarithm transformation is utilized for data preprocessing, which significantly increases the accuracy of prediction results. The average errors of the bending, tensile, and torsion stiffness between simulation results and predicted results converge to 1.88%, 2.33%, and 2.11%, respectively. The particle swarm optimization algorithm is employed for the structure parameter optimization based on the data-driven stiffness model. The stiffness errors of the optimized flexible backbone between simulation results and experimental results are 5.19%, 19.09%, and 5.38%, respectively. Experimental results show that the average position repeatability and orientation repeatability of a CDCR are 0.8822 mm and 0.0046 rad and the CDCR can carry the 500 g payload.

关键词： Bending Analytical models Training data Shape Continuum robots Adaptation models Accuracy Training Stability analysis Solid modeling Cable-driven continuum robot (CDCR) data-driven stiffness modeling flexible backbone structure parameter optimization

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Electrochemical detection of Legionella pneumophila using DNAzymes and under continuous flow in cooling tower water

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BIOSENSORS & BIOELECTRONICS 2025年 278卷 117283页

作者： Osman, Enas Saxena, Survanshu qian, shuwen L'Heureux-Hache, Jonathan Li, Phoebe Manek, Jinal Gu, Jimmy Hoare, Todd Li, Yingfu Soleymani, Leyla McMaster Univ Sch Biomed Engn Hamilton ON L8S 4L8 Canada McMaster Univ Dept Biochem & Biomed Sci Hamilton ON L8S 4L8 Canada McMaster Univ Dept Engn Phys Hamilton ON L8S 4L8 Canada McMaster Univ Dept Chem Engn Hamilton ON L8S 4L8 Canada McMaster Univ Michael G DeGroote Inst Infect Dis Res Hamilton ON L8S 4L8 Canada

Rapid detection of Legionella pneumophila in cooling tower water is crucial to mitigate the fatal consequences of Legionnaires disease. This study presents a microfluidic system that employs RNA-cleaving DNAzymes (RCDs) for continuous real time monitoring of this pathogen directly in a single sample of cooling tower water without the need for lengthy bacterial culture. The RCDs, coupled to microgel magnetic beads, are programmed to release an electroactive DNA barcode in the presence of L. pneumophila, which is detected by a downstream electrochemical sensor in real time. Our system identifies key parameters such as peak current, slope of signal increase, and lag time that correlate with L. pneumophila concentration, achieving a limit of detection of 1.4 x 103 CFU/mL in buffer and 1.9 x 103 CFU/mL in cooling tower water, meeting regulatory requirements. This system was further used to identify different serotypes of L. pneumophila amongst other waterborne bacterial species including non pneumophila species of Legionella, creating a highly specific tool for identifying this high-risk pathogen.

关键词： Biosensing DNAzyme Microfluidics Bacterial detection Legionella pneumophila

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Inhibition of Farnesoid-x-receptor signaling during abdominal sepsis by dysbiosis exacerbates gut barrier dysfunction

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CELL COMMUNICATION AND SIGNALING 2025年第1期23卷 1-25页

作者： qian, shuwen Su, Zehua Lin, Jiaqi Hou, qianhao Wang, Xiaomei Li, Yuling Wang, Jieying Huang, Changchun Wang, Zetian Cubero, Francisco Javier Wang, Xiangrui Liao, Lijun Tongji Univ Yangpu Hosp Sch Med Dept Anesthesiol & Pain Management Shanghai 200090 Peoples R China Tongji Univ Shanghai East Hosp Sch Med Dept Pain Management Shanghai 200120 Peoples R China Tongji Univ Jian Hosp Shanghai East Hosp Sch Med Nanchang 343006 Jiangxi Peoples R China Shanghai Jiao Tong Univ Renji Hosp Clin Ctr Invest Sch Med Shanghai 200127 Peoples R China Ningbo First Hosp Dept Anesthesiol Ningbo 315010 Zhejiang Peoples R China Univ Complutense Madrid Sch Med Dept Immunol Ophthalmol & ENT Madrid Spain Tongji Univ Shanghai East Hosp Inst Pain Med Sch Med Shanghai 200120 Peoples R China

Background and aimsBacterial translocation and intestinal dysbiosis due to gut barrier dysfunction are widely recognized as major causes of the initiation and development of intra-abdominal sepsis. Systemic bacterial translocation and hepatic activation of the myeloid differentiation primary response gene 88 (Myd88) can disturb bile acids (BAs) metabolism, further exacerbating intestinal dysbiosis. The farnesoid X receptor (FXR) and fibroblast growth factor (FGF) 15/19 are well known to be involved in the control of BAs synthesis and enterohepatic circulation. However, the influence of intestinal microbiota on intestinal Myd88 signaling, the FXR/FGF15 axis, as well as gut-liver crosstalk during sepsis remains unclear. The present study aims to decipher the role of intestinal Myd88 in abdominal sepsis, its impact on intestinal FXR signaling and FGF15-mediated gut-liver *** levels of FXR and FGF15 in the liver and intestines, alongside assessments of gut barrier function, were evaluated in septic wild-type (WT) mice 24 h post-cecal ligation and puncture (CLP) surgery. Subsequently, the FXR agonist INT-747 was administered to explore the relationship between FXR activation and gut barrier function. Further investigations involved Myd88-deficient mice with specific deletion of Myd88 in intestinal epithelial cells (Myd88 triangle IEC), subjected to CLP to examine the interplay among intestinal Myd88, FXR, gut barrier function, microbiota, and BA composition. Additionally, fecal microbiota transplantation (FMT) from septic mice to Myd88 triangle IEC mice was conducted to study the impact of dysbiosis on intestinal Myd88 expression during sepsis, using floxed (Myd88fl/fl) mice as controls. Finally, the effects of the probiotic intervention on gut barrier function and sepsis outcomes in CLP mice were *** of sepsis via CLP led to hepatic cholestasis, suppressed FXR-FGF15 signaling, altered gut microbiota composition, and comp

关键词： Sepsis Gut microbiota Myd88 FXR FGF15 Probiotics Bile acids

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FUNCTIONAL NUCLEIC ACIDS AS KEYCOMPONENTS IN BIOSENSORS

FUNCTIONAL NUCLEIC ACIDS AS KEYCOMPONENTS IN BIOSENSORS

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作者： qian, shuwen McMaster University

学位级别：博士

The functionality of nucleic acids beyond genetics has attracted more attention over the past decades. Functional nucleic acids (FNA), including aptamers and nucleic acid-based enzymes, are well-known for their target binding and reaction catalysis abilities. FNA can be obtained through a technology called in vitro selection, which allows the isolation of customized FNA for various applications. In particular, FNA have received much interest in biosensing application. Their wide range of sensing targets, intrinsic stability, and high specificity have qualified them as the molecular recognition element in biosensors. This thesis explored the utilization of FNA to tackle real-world biosensing challenges, especially for pathogenic bacteria detection. The first project aimed to make the most use of in vitro selection to derive FNA that can meet the requirements of terminal applications. A few feasible approaches were proposed based on lessons from Mother Nature and validated by innovative scientist pioneers. In the second research project, I characterized an RNA-cleaving DNAzyme for Clostridium difficile infection diagnosis. This DNAzyme displayed high sensitivity and specificity for clinical C. difficile strains, making it a competitive candidate for a potential point-of-care diagnostic tool. In the next chapter, I incorporated a Legionella pneumophila-responsive RNA-cleaving DNAzyme into a bead-based assay for practical on-site detection. This assay exhibited a high stability and functionality in the cooling tower water samples, the real-world application environment. The following chapter was to optimize this assay further with a coupled rolling circle amplification strategy. This additional amplification speeded up the detection process, improved the limit of detection, and enabled the colorimetric results that are observable to the naked eye. These research aimed to advance the practical applications of FNA as key components in biosensors. I hope readers find thi

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Dynamic moisture sorption and humidity response inside the wooden space to cyclical changing external relative humidity

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WOOD MATERIAL SCIENCE & ENGINEERING 2023年第6期18卷 1922-1932页

作者： Yang, Tiantian Mei, Changtong qian, shuwen Nanjing Forestry Univ Coll Mat Sci & Engn Nanjing Peoples R China Nanjing Forestry Univ Coinnovat Ctr Efficient Proc & Utilizat Forest Res Nanjing Peoples R China Nanjing Forestry Univ Coll Mat Sci & Engn Nanjing 210037 Peoples R China Nanjing Forestry Univ Coinnovat Ctr Efficient Proc & Utilizat Forest Res Nanjing 210037 Peoples R China

Wood is usually processed into various spaces and used in buildings, packaging and furniture. Dynamic moisture sorption and humidity response inside wooden space to sinusoidally changing external relative humidity (RH) were demonstrated by using a self-assembly device, which simultaneously recorded moisture content (MC) and RH changes. Wood has hierarchical structures, which provided the basis of moisture sorption and further influenced RH inside. Internal RH changed sinusoidally, similar to external RH and MC. During internal and external moisture exchange, water molecules experienced dynamic compound actions, including moisture gradient pressure, the attraction of sorption sites and water molecules and diffusing hindrance. Consequently, MC and internal RH exhibited dynamic phase lag of over 0.39 radian. Meanwhile, moisture sorption was higher for thinner wood, especially in a longer cyclic period since more water molecules interacted with sorption sites with less diffusing hindrance. Correspondingly, the humidity change was lower inside thicker wooden spaces in a shorter period. The average internal RH and amplitude decreased by 5% and 83.7%, respectively. Dynamic humidity change hysteresis existed and showed positive relation to the cyclic period but inversely with wood thickness. The study helped better understand dynamic moisture sorption and humidity change in wooden space and facilitated the better application of wood in human life.

关键词： Cyclical humidity change dynamic humidity response dynamic moisture sorption wood

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Brown and beige fat： the metabolic function, induction, and therapeutic potential

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Frontiers of Medicine 2015年第2期9卷 162-172页

作者： shuwen qian Haiyan Huang Qiqun Tang Key Laboratory of Metabolism and Molecular Medicine the Ministry of Education Department of Biochemistry and Molecular Biology Fudan University Shanghai Medical College Shanghai 200032 China

Adipose tissue is an important organ for energy homeostasis. White adipose tissue stores energy in the form of triglycerides, whereas brown adipocytes and recently identified beige adipocytes are specialized in dissipating energy by thermogenesis or contribution to dispose glucose and clear triglycerides in blood. The inverse correlation between the brown adipose tissue activity and body mass suggests its protective role against body fat accumulation. Thus, recruitment and activation of brown or beige adipose tissue become particularly appealing targets for increasing energy expenditure. Angiogenesis and sympathetic nerve signals are the fundamental determinants for brown and beige adipose tissue development, as well as for their metabolic functions. Secretary factors including BMPs can induce the development, the activation of brown or beige adipose tissue, which seem to be promising for therapeutic development.

关键词： brown adipocyte beige adipocyte metabolism obesity

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右美托咪定预处理通过调控p62/Keap1/Nrf2途径减轻脂多糖诱导的大鼠肝脏氧化应激、炎症和铁死亡

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安徽医药 2025年第3期29卷 472-481,I0001页

作者：沈耘吴佳艺韩艳艳钱淑雯郭旋上海市杨浦区中心医院麻醉科上海200000

目的研究右美托咪定(Dex)对脂多糖(LPS)诱导的肝脏氧化应激、炎症及铁死亡的影响及其可能的机制。方法2022年8月至2023年6月,腹腔注射LPS制备大鼠肝损伤模型。50只雄性Wistar大鼠按随机数字表法分为五组:对照组、Dex组、LPS组、LPS+Dex... 详细信息

目的研究右美托咪定(Dex)对脂多糖(LPS)诱导的肝脏氧化应激、炎症及铁死亡的影响及其可能的机制。方法2022年8月至2023年6月,腹腔注射LPS制备大鼠肝损伤模型。50只雄性Wistar大鼠按随机数字表法分为五组:对照组、Dex组、LPS组、LPS+Dex组和LPS+Dex+p62活化抑制剂(XRK3F2)组,每组各10只。Kaplan‒Meier法进行生存分析;酶联免疫吸附测定(ELISA)大鼠血清中天冬氨酸转氨酶(AST)、丙氨酸转氨酶(ALT)、肿瘤坏死因子α(TNF-α)、白细胞介素(IL)-1β和IL-6含量;苏木素-伊红(HE)染色观察大鼠肝组织的形态学变化;流式细胞术检测肝脏组织中活性氧簇含量;丙二醛、谷胱甘肽和总谷胱甘肽(T-GSH)含量,超氧化物歧化酶(SOD)、过氧化氢酶(CAT)和谷胱甘肽过氧化物酶(GSH-Px)活性及谷胱甘肽/氧化型谷胱甘肽(GSH/GSSG)比值采用试剂盒进行检测;实时荧光定量PCR(RT-qPCR)检测炎症因子、铁死亡及信号通路相关分子mRNA的表达;大鼠肝组织中Fe^(2+)含量用组织铁测定试剂盒检测;透射电镜观察大鼠肝组织细胞中线粒体形态;蛋白质印迹法检测铁死亡及信号通路相关分子蛋白的表达。结果与对照组相比,LPS组大鼠生存率和体质量明显降低,肝组织湿/干比及AST和ALT酶活力显著增加,肝组织形态发生损坏、炎症和坏死细胞增加;相较于LPS组,LPS+Dex组大鼠生存率和体质量明显增加,肝水肿、肝功能受损及肝组织病理学损伤明显减轻。与对照组相比,LPS可导致大鼠肝组织中活性氧簇和丙二醛含量增加,SOD、CAT和GSH-Px酶活性降低,谷胱甘肽和T-GSH含量和GSH/GSSG比值减少;Dex预处理则减弱了LPS诱导的氧化应激参数的改变。与对照组相比,LPS组大鼠血清中TNF-α、IL-1β和IL-6含量和肝组织中TNF-α、IL-1β和IL-6 mRNA表达升高;Dex则降低了LPS诱导的炎症因子的表达和释放。与对照组相比,LPS组大鼠肝组织细胞线粒体皱缩、嵴减少、膜密度增加,Fe^(2+)含量增加,谷胱甘肽过氧化物酶4(GPX4)、溶质载体家族7成员11(SLC7A11)和铁蛋白重链(l FTH1)的mRNA和蛋白表达明显降低,乙酰辅酶A合成酶长链家族成员4(ACSL4)和转铁蛋白受体1(TfR1)的mRNA和蛋白表达水平显著升高;Dex预处理显著改善线粒体受损并抑制铁死亡。与对照组相比,LPS组大鼠肝组织中p62表达(0.44±0.02比1.00±0.05)减少,Kelch样ECH2相关蛋白1(Keap1)(2.98±0.01比1.00±0.04)和核因子E2相关因子2(Nrf2)(2.50±0.06比1.00±0.03)表达升高;Dex预处理则增加了p62和核内Nrf2的表达,减少了Keap1和胞质内Nrf2表达。在用Dex预处理的基础上使用p62抑制剂(XRK3F2)后,与LPS+Dex组相比,Dex的抗氧化应激、抗炎症反应及抗铁死亡作用均明显降低。结论Dex对LPS诱导的大鼠肝损伤的保护作用与其抗氧化应激、抗炎症反应及抗铁死亡效应有关,其作用机制可能是通过调控p62/Keap1/Nrf2途径来实现的。

关键词：肝损伤右美托咪定氧化应激炎症铁死亡 p62蛋白/Kelch样ECH2相关蛋白1/核因子E2相关因子2通路

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Feedback Control of Cable-Driven Continuum Robot Based on Flexible Perception

Feedback Control of Cable-Driven Continuum Robot Based on Fl...

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2022 International Conference on Mathematics, Modeling, and Computer Science, MMCS 2022

作者： qian, shuwen Zheng, Tianjiang Shen, Wenjun Ningbo Institute of Materials Technology Engineering Chinese Academy of Sciences Ningbo China University of Chinese Academy of Sciences Beijing China Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo China

ISBN: (纸本)9781510664593

Aiming at the problems of limited accuracy of model and poor position control precision caused by complex deformation of Cable-Driven Continuum Robot(CDCR), a shape sensing and feedback control approach for CDCR is proposed based on the elastic magnetoelectric strain sensor. Kinematic model of robot was established based on the product of exponential (POE) formula. Based on physical characteristics of the sensor, the shape sensing model of the robot was proposed and Qualisys Track System was used for calibration. A module prototype was built to verify the effect of the perceptual feedback control algorithm. The experiment proves that the flexible perception method used in this paper is universal and accurate, and provides a valuable framework for real-time sensing control. © 2023 SPIE.

关键词： Cables

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Feedback Control of Cable-Driven Continuum Robot based on flexible perception 2

Feedback Control of Cable-Driven Continuum Robot based on fl...

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2nd International Symposium on Control Engineering and Robotics, ISCER 2023

作者： qian, shuwen Zheng, Tianjiang Shen, Wenjun Bai, Haotian Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Ningbo China University of Chinese Academy of Sciences Beijing China Key Laboratory of Robotics and Intelligent Equipment Technology of Zhejiang Province Ningbo China University of Nottingham Ningbo China

ISBN: (纸本)9798350336405

Aiming at problems of the limited accuracy of the model and poor control precision caused by the complex deformation of Cable-Driven Continuum Robot(CDCR), a shape sensing and feedback control approach for CDCR is proposed based on the elastic magnetoelectric strain sensor. The kinematic model of CDCR was established based on the product of the exponential (POE) formula. Based on the sensor's physical characteristics, the robot's shape-sensing model was proposed and Qualisys Track System was used for calibration. A module prototype was built to verify the effect of the perceptual feedback control algorithm. The experiment proved that the flexible perception method used in this paper is universal and accurate, and provides a valuable framework for real-time sensing control. © 2023 IEEE.

关键词： Feedback control

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Advantages of the experimental animal hollow organ mechanical testing system for the rat colon rupture pressure test

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INTERNATIONAL JOURNAL OF SURGERY 2013年第10期11卷 1110-1113页

作者： Ji, Chengdong Guo, Xuan Li, Zhen qian, shuwen Zheng, Feng Qin, Haiqing Tongji Univ Sch Med Yangpu Hosp Dept Anesthesiol Shanghai 200090 Peoples R China Tongji Univ Sch Med Yangpu Hosp Dept Gen Surg Shanghai 200090 Peoples R China Shanghai Med Instrumentat Coll Shanghai 200093 Peoples R China

Background: Many studies have been conducted on colorectal anastomotic leakage to reduce the incidence of anastomotic leakage. However, how to precisely determine if the bowel can withstand the pressure of a colorectal anastomosis experiment, which is called anastomotic bursting pressure, has not been determined. Method: A task force developed the experimental animal hollow organ mechanical testing system to provide precise measurement of the maximum pressure that an anastomotic colon can withstand, and to compare it with the commonly used method such as the mercury and air bag pressure manometer in a rat colon rupture pressure test. Forty-five male Sprague-Dawley rats were randomly divided into the manual ball manometry (H) group, the tracing machine manometry pressure gauge head (MP) group, and the experimental animal hollow organ mechanical testing system (ME) group. The rats in each group were subjected to a cut colon rupture pressure test after injecting anesthesia in the tail vein. Colonic end-to-end anastomosis was performed, and the rats were rested for 1 week before anastomotic bursting pressure was determined by one of the three methods. Results: No differences were observed between the normal colon rupture pressure and colonic anastomotic bursting pressure, which were determined using the three manometry methods. However, several advantages, such as reduction in errors, were identified in the ME group. Conclusion: Different types of manometry methods can be applied to the normal rat colon, but the colonic anastomotic bursting pressure test using the experimental animal hollow organ mechanical testing system is superior to traditional methods. (C) 2013 Surgical Associates Ltd. Published by Elsevier Ltd. All rights reserved.

关键词： Withstand mechanics Manometry system Anastomotic bursting pressure

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