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Design and developing a robot-assisted cell batch microinjection system for zebrafish embryo

Microsystems & Nanoengineering 2025年第1期11卷 403-415页

作者： Xiangyu Guo Antian Zhao Youchao Zhang Huanyu Jiang Longhua Tang Bo Lu Yibin Ying Mingchuan Zhou Robotic Micro-nano Manipulation Lab College of Biosystems Engineering and Food ScienceZhejiang UniversityHangzhouChina College of Optical Science and Engineering Zhejiang UniversityHangzhouChina Robotics and Microsystems Center School of Mechanical and Electric EngineeringSoochow UniversitySuzhouChina

The microinjection of Zebrafish embryos is significant to life science and biomedical *** this article,a novel automated system is developed for cell microinjection.A sophisticated microfluidic chip is designed to transport,hold,and inject cells *** the first time,a microinjector with microforce perception is proposed and integrated within the enclosed microfluidic chip to judge whether cells have been successfully *** deep learning model is employed to detect the yolk center of zebrafish embryos and locate the position of the injection needle within the yolk,which enables enhancing the precision of cell injection.A prototype is fabricated to achieve automatic batch *** results demonstrated that the injection efficiency is about 20 seconds per *** puncture success rate and cell survival rate are 100%and 84%,*** to manual operation,this proposed system improves cell operation efficiency and cell survival *** proposed microinjection system has the potential to greatly reduce the workload of the experimenters and shorten the relevant study period.

关键词： deep learning model cell microinjectiona detect yolk center microfluidic chip microforce perception cell batch microinjection zebrafish embryo automated system

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A Differential Privacy Federated Learning Scheme Based on Adaptive Gaussian Noise

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Computer Modeling in engineering & sciences 2024年第2期138卷 1679-1694页

作者： Sanxiu Jiao Lecai Cai Xinjie Wang Kui Cheng Xiang Gao College of Automation and Information Engineering Sichuan University of Science and EngineeringYibin644000China Sanjiang Research Institute of Artificial Intelligence and Robotics Yibin UniversityYibin644000China College of Mechanical Engineering Sichuan University of Science and EngineeringYibin644000China

As a distributed machine learning method,federated learning(FL)has the advantage of naturally protecting data *** keeps data locally and trains local models through local data to protect the privacy of local *** federated learning method effectively solves the problem of artificial Smart data islands and privacy protection ***,existing research shows that attackersmay still steal user information by analyzing the parameters in the federated learning training process and the aggregation parameters on the server *** solve this problem,differential privacy(DP)techniques are widely used for privacy protection in federated ***,adding Gaussian noise perturbations to the data degrades the model learning *** address these issues,this paper proposes a differential privacy federated learning scheme based on adaptive Gaussian noise(DPFL-AGN).To protect the data privacy and security of the federated learning training process,adaptive Gaussian noise is specifically added in the training process to hide the real parameters uploaded by the *** addition,this paper proposes an adaptive noise reduction *** the convergence of the model,the Gaussian noise in the later stage of the federated learning training process is reduced *** paper conducts a series of simulation experiments on realMNIST and CIFAR-10 datasets,and the results show that the DPFL-AGN algorithmperforms better compared to the other algorithms.

关键词： Differential privacy federated learning deep learning data privacy

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Underwater RGB-D imaging system with millimetric precision

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science China(Information sciences) 2024年第10期67卷 383-385页

作者： Yajun GAO Yang CONG Xu TANG Mingxue LI State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences College of Automation Science and Engineering South China University of Technology

In recent years, underwater fine three-dimensional reconstruction technology has emerged as a focal point in research, exhibiting extensive potential applications, particularly in underwater archaeology and resource e...

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Synergy Between Soft Feet and an Active Tail to Enhance the Climbing Ability of a Bio-inspired Climbing Robot

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Journal of Bionic engineering 2024年第2期21卷 729-739页

作者： Pongsiri Borijindakul Tachadol Suthisomboon Alihong Ji Zhendong Dai Poramate Manoonpong Institute of Bio-inspired Structure and Surface Engineering College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and AstronauticsNanjing210016China Bio-inspired Robotics and Neural Engineering Laboratory School of Information Science and TechnologyVidyasirimedhi Institute of Science and TechnologyRayong21210Thailand

Lizards use the synergy between their feet and tail to climb on slopes and vertical *** use their soft adhesive feet with millions of small hairs to increase their contact area with the terrain surface and press their tails against the terrain to actively maintain stability during *** by this,we propose a bio-inspired climbing robot based on a new approach wherein the synergy between soft feet and an active tail with a soft adhesive tip allows the robot to climb stably on even and uneven terrains at different slope *** evaluate and compare the climbing performance of the robot on three different terrains(hard,soft,and fluffy)at different slope *** robot configurations are employed,including those with standard hard feet and soft feet in combination with an active tail-with and without a soft *** experimental results show that the robot having soft feet and a tail with the soft tip achieves the best climbing performance on all terrains,with maximum climbing slopes of 40°,45°,and 50°on fluffy,soft,and hard terrains,*** payload capacity depends on the type of terrain and the inclination ***,our robot performs multi-terrain transitions(climbing from horizontal to sloped terrains)on three different terrains of a *** approach can allow a climbing robot to walk and climb on different terrains,extending the operational range of the robot to areas with complex terrains and slopes,e.g.,in inspection,exploration,and construction.

关键词： Bio-inspired climbing robots Climbing robots Soft foot Active tail Soft terrain Terrain transitions

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Advancement in CFD and Responsive AI to Examine Cardiovascular Pulsatile Flow in Arteries:A Review

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Computer Modeling in engineering & sciences 2024年第12期141卷 2021-2064页

作者： Priyambada Praharaj Chandrakant R.Sonawane Arunkumar Bongale Department of Engineering Science and Humanities JSPM Rajarshi Shahu College of EngineeringPune411033India Robotics and Automation Department Symbiosis Institute of TechnologySymbiosis Institute(Deemed)UniversityPune412115India

This paper represents a detailed and systematic review of one of the most ongoing applications of computational fluid dynamics(CFD)in biomedical *** its various engineering applications,CFD has started to establish a presence in the biomedical *** abnormality,a familiar health issue,is an essential point of investigation by research *** modalities provide cardiovascular structural information but give insufficient information about the hemodynamics of *** study of hemodynamic parameters can be a potential measure for determining cardiovascular *** studies have explored the rheological behavior of blood experimentally and *** paper provides insight into how researchers have incorporated the pulsatile nature of the blood experimentally,numerically,or through various simulations over the *** focuses on how machine learning platforms derive outputs based on mass and momentum conservation to predict the velocity and pressure profile,analyzing various cardiac diseases for clinical *** will pave the way toward responsive AI in cardiac healthcare,improving productivity and quality in the healthcare *** paper shows how CFD is a vital tool for efficiently studying the flow in *** review indicates this biomedical simulation and its applications in healthcare using machine learning and *** AI-based CFD models can impact society and foster the advancement towards responsive AI.

关键词： Pulsatile flow cardiovascular CFD simulation patient-specific GPU-accelerated responsive AI

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Mechanically driven assembly of biomimetic 2D-material microtextures with bioinspired multifunctionality

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Nano Research 2024年第2期17卷 663-678页

作者： Yang Li Lin Jing Joshua M.Little Haochen Yang Tsai-Chun Chung Po-Yen Chen Department of Chemical and Biomolecular Engineering University of MarylandCollege ParkMD 20740USA Maryland Robotics Center University of MarylandCollege ParkMD 20742USA School of Materials Science and Engineering Nanyang Technological University50 Nanyang AvenueSingapore 639798Singapore

Nature provides a wealth of bio-inspiration for advanced material *** various nanomaterials into biomimetic microtextures with bioinspired functionalities has spurred increasing research interests and facilitated technological advances in various *** recent years,two-dimensional materials(2DMs)have emerged as important building block units in the biomimicry field due to their distinct chemical,physical,electrical,electrochemical,and catalytic *** this review article,various mechanically driven assembly approaches are summarized to fabricate various genealogies of biomimetic 2DM microtextures with bio-inspired ***,sequential deformation strategies are discussed to programmably construct higher dimensional 2DM microtextures,ranging from wrinkles/crumples(one-time deformation)to multiscale hierarchies(multiple deformations).Next,the current progress using higher dimensional 2DM microtextures to imitate different biological structures and/or induce bio-inspired multifunctionality is systematically *** showcases of bio-inspiration and biomimicry using different 2DM nanosheets are highlighted:(1)wrinkle patterns of an earthworm that spur the design of strain sensors with programmable working ranges and sensitivities,(2)wrinkle appearance of a Shar-Pei dog that motivates the fabrication of stretchable energy storage devices,(3)hierarchical scale textures of a desert lizard that inspire cation-induced gelation platforms for 2DM aerogels,and(4)wrinkle skin of an elephant that influences the development of 2DM protective skin for soft ***,challenges and future opportunities of adopting 2DM nanosheets to assemble biomimetic microstructures with synergistic functionalities are discussed.

关键词： two-dimensional(2D)materials mechanically driven assembly biomimetic microtextures functional nanocomposite bio-inspired multifunctionality

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MADRL-based UAV swarm non-cooperative game under incomplete information

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Chinese Journal of Aeronautics 2024年第6期37卷 293-306页

作者： Ershen WANG Fan LIU Chen HONG Jing GUO Lin ZHAO Jian XUE Ning HE School of Electronic and Information Engineering Shenyang Aerospace UniversityShenyang 110136China College of Robotics Beijing Union UniversityBeijing 100101China School of Engineering Science University of Chinese Academy of SciencesBeijing 100049China College of Smart City Beijing Union UniversityBeijing 100101China

Unmanned Aerial Vehicles(UAVs)play increasing important role in modern *** this paper,considering the incomplete observation information of individual UAV in complex combat environment,we put forward an UAV swarm non-cooperative game model based on Multi-Agent Deep Reinforcement Learning(MADRL),where the state space and action space are constructed to adapt the real features of UAV swarm air-to-air *** multi-agent particle environment is employed to generate an UAV combat scene with continuous observation *** recently popular MADRL methods are compared extensively in the UAV swarm noncooperative game model,the results indicate that the performance of Multi-Agent Soft Actor-Critic(MASAC)is better than that of other MADRL methods by a large *** swarm employing MASAC can learn more effective policies,and obtain much higher hit rate and win *** under different swarm sizes and UAV physical parameters are also performed,which implies that MASAC owns a well generalization ***,the practicability and convergence of MASAC are addressed by investigating the loss value of Q-value networks with respect to individual UAV,the results demonstrate that MASAC is of good practicability and the Nash equilibrium of the UAV swarm non-cooperative game under incomplete information can be reached.

关键词： UAV swarm Reinforcement learning Deep learning Multi-agent Non-cooperative game Nash equilibrium

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Towards Source-Free Domain Adaptive Semantic Segmentation Via Importance-Aware and Prototype-Contrast Learning

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-13页

作者： Cao, Yihong Zhang, Hui Lu, Xiao Xiao, Zheng Yang, Kailun Wang, Yaonan College of Computer Science and Electronic Engineering Hunan University Changsha China National Engineering Research Center of Robot Vision Perception and Control Technology School of Robotics Hunan University Changsha China College of Engineering and Design Hunan Normal University Changsha China

Domain adaptive semantic segmentation enables robust pixel- wise understanding in real-world driving scenes. Source-free domain adaptation, as a more practical technique, addresses the concerns of data privacy and storage limitations in typical unsupervised domain adaptation methods, making it especially relevant in the context of intelligent vehicles. It utilizes a well-trained source model and unlabeled target data to achieve adaptation in the target domain. However, in the absence of source data and target labels, current solutions cannot sufficiently reduce the impact of domain shift and fully leverage the information from the target data. In this paper, we propose an end-to-end source-free domain adaptation semantic segmentation method via Importance-Aware and Prototype-Contrast (IAPC) learning. The proposed IAPC framework effectively extracts domain-invariant knowledge from the well-trained source model and learns domain-specific knowledge from the unlabeled target domain. Specifically, considering the problem of domain shift in the prediction of the target domain by the source model, we put forward an importance-aware mechanism for the biased target prediction probability distribution to extract domain-invariant knowledge from the source model. We further introduce a prototype-contrast strategy, which includes a prototype-symmetric cross-entropy loss and a prototype-enhanced cross-entropy loss, to learn target intra-domain knowledge without relying on labels. A comprehensive variety of experiments on two domain adaptive semantic segmentation benchmarks demonstrates that the proposed end-to-end IAPC solution outperforms existing state-of-the-art methods. The source code is publicly available at https://***/yihong-97/Source-free-IAPC. IEEE

关键词： Semantics

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Promising real-time fruit and vegetable quality detection technologies applicable to manipulator picking process

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International Journal of Agricultural and Biological engineering 2024年第2期17卷 14-26页

作者： Jintao Feng Qinyi Yang Hao Tian Zhipeng Wang Shijie Tian Huirong Xu College of Biosystems Engineering and Food Science Zhejiang UniversityHangzhou 310058China Key Laboratory of Intelligent Equipment and Robotics for Agriculture of Zhejiang Province Hangzhou 310058China

In recent years,worldwide research on fruit and vegetable quality detection technology includes machine vision,spectroscopy,acoustic vibration,tactile sensors,*** technologies have also been gradually applied to fruit and vegetable grading and sorting lines in recent years,greatly improving the income of *** have been numerous reviews of these *** of the published research on fruit and vegetable quality detection technology is still carried out in the *** emphases have been on quality feature extraction,model establishment and experimental *** successful application in the fruit and vegetable sorting production line proves that these studies have high application potential and value,and we look forward to the performance of these sensing technologies in the fruit and vegetable picking ***,in this paper,based on the future highly automated fruit and vegetable picking mode,we will focus on three kinds of fruit and vegetable quality detection technologies including machine vision,tactile sensor and spectroscopy,to provide some reference for future *** there are currently limited cases of detecting quality during the fruit and vegetable picking,experiments performed on prototypes of manipulator,or devices such as Nanocilia sensors,portable spectrometers,etc.,which are compact and convenient to mount on manipulator will be *** tables and mosaics showing the performance of the three technologies in the detection of fruit and vegetable quality over the past five years have been *** performance of each sensing technology was relatively satisfactory in the laboratory in ***,in the picking scenario,there are still many challenges to be *** from industrial environments,agricultural scenarios are complex and *** and vulnerable agricultural products pose another *** development of portable devices and nanomaterials have become important

关键词： fruit and vegetable quality detection machine vision spectroscopy tactile sensors picking scenario

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i-Glove: An Intelligent Glove System Based on Deep Learning to Support Deaf-blind Individuals in Recognizing Banknotes 3

i-Glove: An Intelligent Glove System Based on Deep Learning ...

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3rd IEEE International Conference on robotics, Automation, Artificial-Intelligence and Internet-of-Things, RAAICON 2024

作者： Hossain, Fahad Mohammad Alavi, Rafit Safat, Yeamin Sarker, Gobinda Chandra Noor, Nafisa Hossain, Ekram Mymensingh Engineering College Department of Computer Science and Engineering Mymensingh Bangladesh University of Dhaka Department of Robotics and Mechatronics Engineering Dhaka Bangladesh

ISBN: (纸本)9798331534400

The deaf-blind community faces significant challenges in identifying banknotes due to simultaneous hearing and vision impairments, which complicate their ability to conduct daily financial transactions. Recent advances in Artificial Intelligence (AI)-based assistive technologies offer promising potential to address these challenges. This study presents the "i-Glove,"a wearable device specifically developed to assist the deaf-blind community in Bangladesh with accurate banknote identification. The i-Glove is designed to recognize nine common Bangladeshi banknotes (e.g., BDT 20, 50, 100) through a camera module integrated on the palmar side of the glove, which captures real-time images of the banknotes. These images are then processed by a convolutional neural network (CNN) model to accurately classify each banknote. Identified notes are translated into unique vibration patterns that are delivered to the user through a shaftless vibration motor embedded in the glove, providing intuitive, non-visual communication. Compared to previous approaches, our model demonstrates superior performance even with a compact dataset, achieving an overall F1-score accuracy of 96.55%, with class-specific precision, recall, and F1-score metrics ranging from 90% to 100%. Additionally, a dedicated application is developed which supports real-time banknote detection and interfaces seamlessly with the glove. The proposed system represents a significant step forward in assistive technology for the deaf-blind community, empowering the users with greater autonomy in financial transactions. © 2024 IEEE.

关键词： Convolutional neural networks

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