检索结果-内蒙古大学图书馆

NANOROBOTS: Intracellular manipulation and measurement with multipole magnetic tweezers

Science robotics 2019年第28期4卷

作者： Wang, X. Ho, C. Tsatskis, Y. Law, J. Zhang, Z. Zhu, M. Dai, C. Wang, F. Tan, M. Hopyan, S. McNeill, H. Sun, Y. Department of Mechanical and Industrial Engineering University of Toronto TorontoONM5S 3G8 Canada Institute of Biomaterials and Biomedical Engineering TorontoONM5S 3G9 Canada Lunenfeld-Tanenbaum Research Institute Mt. Sinai Hospital TorontoONM5G 1X5 Canada Program in Developmental and Stem Cell Biology Hospital for Sick Children TorontoONM5G 1X8 Canada HRG Central Institute of Robotics HIT Robot Group Harbin Heilongjiang150001 China Institute of Automation Chinese Academy of Sciences Beijing100190 China Division of Orthopaedic Surgery Hospital for Sick Children and University of Toronto TorontoONM5G 1X8 Canada Department of Developmental Biology Washington University School of Medicine St. LouisMO63108 United States Department of Electrical and Computer Engineering University of Toronto TorontoONM5S 3G4 Canada

The capability to directly interrogate intracellular structures inside a single cell for measurement and manipulation is important for understanding subcellular and suborganelle activities, diagnosing diseases, and developing new therapeutic approaches. Compared with measurements of single cells, physical measurement and manipulation of subcellular structures and organelles remain underexplored. To improve intracellular physical measurement and manipulation,we have developed amultipole magnetic tweezers system for micromanipulation involving submicrometer position control and piconewton force control of a submicrometermagnetic bead inside a single cell for measurement in different locations (spatial) and different time points (temporal). The beadwas three-dimensionally positioned in the cell using a generalized predictive controller that addresses the control challenge caused by the low bandwidth of visual feedback from high-resolution confocal imaging. The average positioning error was quantified to be 0.4 mm, slightly larger than the Brownianmotion-imposed constraint (0.31 mm). The system is also capable of applying a force up to 60 pN with a resolution of 4 pN for a period of time longer than 30 min. The measurement results revealed that significantly higher stiffness exists in the nucleus' major axis than in the minor axis. This stiffness polarity is likely attributed to the aligned actin filament. We also showed that the nucleus stiffens upon the application of an intracellularly applied force, which can be attributed to the response of structural protein lamin A/C and the intracellular stress fiber actin filaments. © 2019 The Authors.

关键词： Cells

来源：评论

学校读者我要写书评

暂无评论

Early Non-Small Cell Lung Cancer Heterogeneity and Recurrence Assessed by Tissue Next-Generation Sequencing Genotyping and Circulating Tumor Cell EZH2 Characterization

Journal of Liquid Biopsy, The

引用

Journal of Liquid Biopsy, The 2023年 1卷 100096-100096页

作者： Diaz, A. Garcia Moyano, M. de Miguel Perez, D. Bayarri-Lara, C. Exposito-Hernandez, J. Ortuño, F. Malapelle, U. Garcia-Moreno, A. Landeira, D. Lorente, J. Rolfo, C. Garrido-Navas, M. Serrano, M. GENYO Centre for Genomics and Oncological Research: Pfizer University of Granada Andalusian Regional Government Liquid Biopsy and Cancer Interception Group Granada Spain Department of Thoracic Surgery Virgen de las Nieves University Hospital Av de las Fuerzas Armadas Granada Spain Center for Thoracic Oncology Tisch Cancer Institute Mount Sinai Medical System & Icahn School of Medicine Mount Sinai New York USA IBS Granada Instituto de Investigacion Biosanitaria de Granada Granada Spain Computational Medicine Platform Andalusian Public Foundation Progress and Health-FPS Sevilla Spain Department of Computer Engineering Automation and Robotics University of Granada Granada Spain Department of Public Health University of Naples Federico II Naples Italy Bioinformatics Unit GENYO. Centre for Genomics and Oncological Research: Pfizer / University of Granada / Andalusian Regional Government PTS Granada - Avenida de la Ilustración 114 - 18016 Granada Spain Centre for Genomics and Oncological Research (GENYO) Avenida de la Ilustración 114 Granada Spain Department of Biochemistry and Molecular Biology II Faculty of Pharmacy University of Granada Granada Spain Lab. of Genetic Identification Department of Legal Medicine & Toxicology and Physical Anthropology School of Medicine University of Granada 18016 Granada Spain Genetics Department Faculty of Sciences University of Granada 18071 Granada Spain Comprehensive Oncology Division Virgen de las Nieves University Hospital Av de las Fuerzas Armadas 2 18014 Granada Spain

来源：评论

学校读者我要写书评

暂无评论

An Investigation on the Performance of an Oscillating Flat Plate Fin with Compliant Joint for Underwater Robotic Actuation

An Investigation on the Performance of an Oscillating Flat P...

引用

IEEE International Conference on Control, Measurement and Instrumentation

作者： N. Srinivasa Reddy Soumen Sen S. N. Shome Academy of Scientific and Innovative Research Robotics and Automation Division CSIR-Central Mechanical Engineering Research Inst. Robotics and Automation Division CSIR-Central Mechanical Engineering Research Inst.

ISBN: (纸本)9781479988501

Fishes are very good swimmers possessing impeccable maneuverability, efficiency, and stealth. Understanding the fish propulsion and mimicking the same is important in obtaining improved performance by non-conventional types of underwater robot/vehicle actuators. The role of the caudal fin in fish locomotion is predominant at higher swimming speeds producing most of the thrust force. Generally the fin motions are oscillatory in nature. In oscillatory trajectories, where reversal of motion is required, a normal actuator has to spend energy to accelerate as well as to decelerate(braking). During braking phase, a normal actuator, without any energy storage mechanism, dissipates energy. Ubiquitous presence of compliance in biological actuation system can store some energy which otherwise get dissipated. Fishes are evolved to tune their compliant joint stiffness according to the swimming conditions. The elastic joint (contributed by compliant muscle) can store energy in part of a cycle during fin oscillation and interaction with surrounding fluid in the form of potential energy and can release in next part of the cycle. This article investigates the role of compliance in the fin joint on propulsion performance through simulations. The analysis considers a rigid body model of trapezoidal flat fin with elastic joint and presents hydrodynamic force modeling for interacting fluid in Newton-Euler rigid body framework using blade element technique.

关键词： Underwater actuation Biorobotic fin Fish locomotion Caudal fin Hydrodynamic force Compliant joint Propulsion efficiency

来源：评论

学校读者我要写书评

暂无评论

Wafer-scale automation of electron beam induced depositions

Wafer-scale automation of electron beam induced depositions

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Patrick Elfert Malte Bartenwerfer Sergej Fatikow Group Automation and Integration Technology Institute for Information Technology Oldenburg Germany Division Micro-robotics and Control Engineering University of Oldenburg Oldenburg Germany

ISBN: (纸本)9781509020669

The electron beam induced deposition process is a versatile and promising technology to improve and build a variety of different targets. The technique works in scanning electron microscope environment and is applicable from the micro-down to the nanometer scale. The fundamental working principle is well known and investigated. However, its application as standard process is still lacking, since repeatability and throughput are infancy. Especially, as this technique is performed manually. An automation and stabilization of the EBID process is desirable but challenging, since the SEM working environment is accompanied with many disturbing effects. Therefore, this work outlines automation strategies to handle those effects and achieve high repeatability and high throughput. These strategies are validated on an external off-the-shelf computer that is connected with the scanning electron microscope via self-developed scan generator. Analyzing these strategies show high repeatability and a reasonable throughput. An outlook is given about the possibilities on extending the scan generator to be able to do an online control of the electron beam induced depositions process.

关键词： automation Electron beams Generators Scanning electron microscopy Throughput Robot kinematics

来源：评论

学校读者我要写书评

暂无评论

Caudal fin load characteristics with different motion patterns toward developing biorobotic fish-fin actuator 15

Caudal fin load characteristics with different motion patter...

引用

2015 Conference on Advances In robotics, AIR 2015

作者： Srinivasa, Reddy N. Sen, Soumen Kumar, Diwakar Shome, Sankar Nath Academy of Scientific and Innovative Research CMERI - Research Institute Robotics and Automation Division Durgapur713209 India CSIR - Central Mechanical Engineering Research Institute Robotics and Automation Division Durgapur713209 India

ISBN: (纸本)9781450333566

Traditionally underwater vehicles use thrusters as propulsion devices and achieve high speed. These thrusters come with their own limitations such as turbulence, cavitations etc. resulting into low efficiency and noise;the vehicles severely suffer from lack of efficiency in low speed operations. Maneuverability of vehicles using thrusters or jet propulsion devices is inherently limited. On the other hand, nature provides fins to fishes and aquatic animals for underwater locomotion with proven greater maneuverability, agility and efficiency in low speed motion, achieving a highly desirable quality of stealth. To adapt the biological mechanisms of thrust production to man-made underwater robotic vehicles, understanding of biomechanics and load characteristics of the natural fins is very important. In this paper, we consider the caudal fin of a fish, being the main propulsive actuator. This article aims to understand the load characteristics of different motion patterns of the fin in water through fluid-structure interaction (FSI) simulations and does not intend to access the performance of the fin propulsion as a whole. Numerical simulations have been carried out for determining the load characteristics of different motion patterns of the chosen caudal fin and the results are presented. The simulations are based on simple kinematic fin model and do not describe any working prototype. The simulations will eventually lead to the design and development of reduced order biorobotic replica of a caudal fin. © 2015 ACM.

关键词： Fish

来源：评论

学校读者我要写书评

暂无评论

Novel multi-interface USB prototype device for merging commonly used peripheral devices

Novel multi-interface USB prototype device for merging commo...

引用

International Conference on Industrial Instrumentation and Control (ICIC)

作者： Siddharth Kaul Parth Maheta R J Rajesh Rashmi Ranjan Das Control and Automation School of Electrical Engineering VIT University Vellore Tamil Nadu Robotics and Control Division School of Electrical Engineering VIT University Vellore Tamil Nadu

The Universal Serial Bus (USB) Specification allows combination of different USB components into a single device. This creates a composite device and each component is recognized as an independent device. The aim of the paper is to introduce a novel concept to combine some commonly used USB classes in a single device to create a composite device that functions in multiple ways. The paper shows some ways of combining two different USB classes using available Real Time Operating System (RTOS). The paper explains the implementation of USB Human Interface Device class and USB Mass Storage Device the classes used in the two most commonly used peripheral devices, using available stack libraries and clearly explains the important aspects in implementing the said classes. The prototype device mentioned will function both as a pointing device and a storage device.

关键词： Robots Universal Serial Bus Mice Ice

来源：评论

学校读者我要写书评

暂无评论

Performance of BPSK and BFSK digital modulation schemes in colored noise scenario

Performance of BPSK and BFSK digital modulation schemes in c...

引用

International Symposium on Underwater Technology

作者： Bipin Kumar Patel Dibbendu Roy Siva Ram Krishna Vadali Robotics & Automation Division CSIR-CMERI Durgapur Dept. of Electronics & Communication Engineering NIT Durgapur Council of Scientific & Industrial Research New Delhi Delhi IN

It is well known that the underwater channel is a hostile environment for data transmission. In this work we compute the link budget for a passive sonar link for a targeted specification and subsequently present a simulation study of the performance of two digital modulation techniques, (BPSK and BFSK) over an underwater acoustic channel. A BER performance comparison on the two modulation schemes concludes the paper.

关键词： Noise Frequency shift keying Bit error rate Mathematical model Sonar Propagation losses Baseband

来源：评论

学校读者我要写书评

暂无评论

Learning by observation for surgical subtasks: Multilateral cutting of 3D viscoelastic and 2D Orthotropic Tissue Phantoms

Learning by observation for surgical subtasks: Multilateral ...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Adithyavairavan Murali Siddarth Sen Ben Kehoe Animesh Garg Seth McFarland Sachin Patil W. Douglas Boyd Susan Lim Pieter Abbeel Ken Goldberg Department of Electrical Engineering and Computer Science (EECS) Center for Automation and Learning for Medical Robotics (Cal-MR) University of California Berkeley Berkeley CA USA Mechanical Engineering Ohio University Department of Electrical Engineering and Computer Science Athens OH US Division of Cardiothoracic Surgery University of California Davis Medical Center Sacramento CA USA Centre for Breast Screening and Surgery Centre for Robotic Surgery Singapore IEOR and EECS

Automating repetitive surgical subtasks such as suturing, cutting and debridement can reduce surgeon fatigue and procedure times and facilitate supervised tele-surgery. Programming is difficult because human tissue is deformable and highly specular. Using the da Vinci Research Kit (DVRK) robotic surgical assistant, we explore a “Learning By Observation” (LBO) approach where we identify, segment, and parameterize motion sequences and sensor conditions to build a finite state machine (FSM) for each subtask. The robot then executes the FSM repeatedly to tune parameters and if necessary update the FSM structure. We evaluate the approach on two surgical subtasks: debridement of 3D Viscoelastic Tissue Phantoms (3d-DVTP), in which small target fragments are removed from a 3D viscoelastic tissue phantom; and Pattern Cutting of 2D Orthotropic Tissue Phantoms (2d-PCOTP), a step in the standard Fundamentals of Laparoscopic Surgery training suite, in which a specified circular area must be cut from a sheet of orthotropic tissue phantom. We describe the approach and physical experiments with repeatability of 96% for 50 trials of the 3d-DVTP subtask and 70% for 20 trials of the 2d-PCOTP subtask. A video is available at: http://***/Robot-Surgery-Video-Oct-2014.

关键词： Phantoms Three-dimensional displays Surgery Motion segmentation Grippers Robot sensing systems

来源：评论

学校读者我要写书评

暂无评论

A tendon driven biorobotic pectoral fin: Mechanism and analysis

A tendon driven biorobotic pectoral fin: Mechanism and analy...

引用

23rd International Offshore and Polar engineering Conference, ISOPE 2013

作者： Rathour, Swarn Singh Sen, Soumen Saha, Pratik Shome, Sankar N. Robotics and Automation Division CSIR Central Mechanical Engineering Research Institute DurgapurWest Bengal India

ISBN: (纸本)9781880653999

This article describes development of a mechanism for a Biorobotic Pectoral Fin. In swimming action of fishes, median and paired fins (MPF) are predominantly employed for low speed maneuver (low radius turning, backward movement), and hovering etc., whereas body and caudal fin (BCF) are used for generating large acceleration and thrust. In MPF swimming mode, Pectoral fins play most important role in many fishes, e.g. Labriform. Biomimicing of pectoral fin offers an effective mechanism of propulsion for small underwater vehicles, meant for applications like aquatic environment monitoring, aquatic life observation, surveillance and even in executing tasks through achieving ambitious Swarm behavior. In view of above, development of a pectoral type fin actuation mechanism is attempted here, where Finrays are actuated by tendons through tendon-sheath arrangement. Design of a reduced order (scaled up) fin mechanism is depicted along with dynamic and drag force analyses. A treatment for modeling and estimation of friction parameters in tendon-sheath arrangement through experiment is delineated. Copyright © 2013 by the International Society of Offshore and Polar Engineers (ISOPE).

关键词： Tendons

来源：评论

学校读者我要写书评

暂无评论

Variable impedance actuator with exponential elasticity for flexible-joint-robot and estimation of the joint impedance 1

Variable impedance actuator with exponential elasticity for ...

引用

1st International and 16th National Conference on Machines and Mechanisms, iNaCoMM 2013

作者： Sen, Soumen Har, Chandan Chatterjee, Sananda Robotics and Automation Division CSIR - Central Mechanical Engineering Research Institute Durgapur India Bengal Engineering and Science University Shibpur India CSIR CMERI Mechatronics Programme Durgapur India

New generation robots, meant for physical human robot interactions, are no longer rigid;it has become soft in terms of introduction of considerable flexibility at the actuated joints, flexibility of the links and in terms of compliant coverings. Safety requirement becomes primary in situations where physical interactions occur, calling for compliance;but accuracy and control bandwidth get compromised. While it has been established in literature that flexible-link-robots are difficult to control, it is found feasible to recover some of the lost bandwidth by varying stiffness in flexible-joint-robots, maintaining safety of human during interaction. This article addresses development of such a flexible robot joint actuation system with stiffness/impedance variability. This variability of stiffness is achieved passively by the flexible transmission interposed between the prime mover and the actuated link, and in doing so, nonlinearity in the elastic transmission characteristic becomes essential. The Variable Stiffness Actuation (VSA) system of this article employs an elastic element having an exponential force-displacement characteristic, which has the property of stiffness varying linearly with transmission force. This property is favourably utilized in the estimation of stiffness, and in turn can be used in control of stiffness. The variable stiffness actuation is realized here by assembling two transmissions in agonist-anatagonistic arrangement in order to achieve simultaneous control of both joint-motion and stiffness, resembling biological musculoskeletal system. By adding nonlinear damping elements in parallel to the elastic transmission, variability in mechanical impedance has been achieved. Joint stiffness is computed with the estimated stiffness of individual transmissions, which are obtained experimentally. Extended Kalman Filter is employed for the estimation of stiffness and other impedance components. Results are reported in support of the effectiveness of

关键词： Stiffness

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：