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Magnetically driven biohybrid blood hydrogel fibres for personalized intracranial tumour therapy under fluoroscopic tracking

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Nature Biomedical Engineering 2025年 2025 May 1页

作者： Wang, Ben Shen, Jie Huang, Chenyang Ye, Zhicheng He, Jiajun Wu, Xinyu Guo, Zhiguang Zhang, Li Xu, Tiantian College of Chemistry and Environmental Engineering Shenzhen University Shenzhen China Shenzhen Key Laboratory of Spine Surgery Department of Spine Surgery Peking University Shenzhen Hospital Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China Hubei Collaborative Innovation Centre for Advanced Organic Chemical Materials Ministry of Education Key Laboratory for the Green Preparation and Application of Functional Materials Hubei University Wuhan China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong The Key Laboratory of Biomedical Imaging Science and System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China

Small materials with pliability and untethered mobility are particularly suitable for minimally invasive medical interventions inside the body. However, the capabilities and applicability of such soft ‘robots’ are restricted by foreign-body responses to them and by the need to get them cleared from the body after the intervention. Here we report the development of biodegradable magnetized biohybrid blood hydrogel fibres that evade immune recognition, and their applicability for targeted intracranial tumour therapy with real-time tracking through X-ray fluoroscopy. The gel fibres can be made of the patient’s own blood mixed with a small amount of magnetic particles and can be produced in about 15 min. We show that the locomotion of intracranially injected gel fibres through cerebrospinal fluid can be remotely controlled under a magnetic field and fluoroscopically tracked, and that a drug encapsulated in the gels can be released on demand under magnetic control, as we show for the delivery of doxorubicin to intracranial tumours in the minipigs. Biodegradable soft actuatable materials that avoid foreign-body responses may aid the development of personalized targeted interventions. © The Author(s), under exclusive licence to Springer Nature Limited 2025.

关键词： Body fluids

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Movement Control and Attitude Adjustment of Climbing Robot on Flexible Surfaces

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2018年第3期65卷 2618-2628页

作者： Wu, Xinyu Liu, Jia Zhou, Yimin Lv, Qin Hu, Chaofang CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems and Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems and Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems and Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems and Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China School of Electrical and Information Engineering Tianjin University Tianjin China

In this paper, a series of control algorithms have been designed for the climbing cloth robot, "Clothbot" to climb vertically. The developed algorithm consists of three parts: a sliding mode control with integral action (SMC with integral action), a linear quadratic regulator, and dead reckoning for semi-autonomous navigation. First, the SMC with integral action is developed for high-precision position tracking and speed tracking of the permanent magnet direct current (PMDC) motor installed on the robot. The error between the expected velocity and the actual velocity of the PMDC motor is adopted to design the sliding surface. In order to compensate the fluctuation of the load torque due to the varied friction during climbing, an observer is formulated to estimate the load torque in real-time. Second, the LQR is employed for attitude adjustment by an active torque so as to prevent the robot from falling or being jammed during the movement. Third, due to the onboard-limited energy, the robot is just equippedwith semi-autonomous navigation named dead reckoning carrying on primary localization and primary path planning. Experiments are performed to verify the efficacy of the proposed control algorithms.

关键词： Climbing robot flexible surface linear quadratic regulator load observer sliding mode control with integral action

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TrinityMag:A novel magnetically actuated miniature robot manipulating system with a human-scale workspace

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Science China(Technological Sciences) 2024年第11期67卷 3546-3558页

作者： LI Dong CHEN BinHan HUANG ChenYang XU Sheng WU XinYu XU TianTian Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China Key Laboratory of Biomedical Imaging Science and System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China

The development of the magnetic manipulating system is essential for applications of magnetically actuated miniature robots in biomedical practice,such as targeted therapy and precise ***,the workspaces of existing magnetic manipulating systems for miniature robots are mostly insufficient to manipulate miniature robots inside human *** present study proposes an innovative electromagnets-based manipulating system,TrinityMag,which can produce dynamic three-dimensional(3D)magnetic fields in a human-scale spherical workspace with a 2.6 m *** magnetic field of a single electromagnet is simulated,and a new calibration technic is designed based on deep learning ***,the arrangement of three electromagnets is optimized to produce maximal 3D arbitrary magnetic fields with limited ***,a target-tracking algorithm is developed so that the TrinityMag can track the miniature robot in real ***,the TrinityMag is validated in experiments to manipulate a soft millirobot to move in human-scale tortuous tracks with two types of *** maximum speed of the soft millirobot reaches 11.05 body length/*** work contributes to a significant increment in the workspace of the electromagnets-based manipulating system for miniature *** further expect that the TrinityMag could push the applications of miniature robots from laboratory to clinical practice.

关键词： magnetic manipulating system human-scale workspace magnetically actuated miniature robots

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Contact Force Optimization to Enhance Fault-tolerant Motion Stability of a Hexapod Robot

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Journal of Bionic Engineering 2024年第5期21卷 2199-2214页

作者： Bo You Shangdong Shi Chen Chen Jiayu Li Nan Li Liang Ding The Key Laboratory of Intelligent Technology for Cutting and Manufacturing Ministry of Education and the Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and TechnologyHarbin150080China The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

This paper presents a novel method for optimizing the contact force of a hexapod robot to enhance its dynamic motion stability when one of its legs *** proposed approach aims to improve the Force Angle Stability Margin(FASM)and adapt the foot trajectory through contact force optimization to achieve safe and stable motion on various *** foot force optimization approach is designed to optimize the FASM,a factor rarely considered in existing contact force optimization *** formulating the problem of enhancing the motion stability of the hexapod robot as a Quadratic Programming(QP)optimization problem,this approach can effectively address this *** of a hexapod robot using a fault-tolerant gait,along with real field experiments,were conducted to validate the effectiveness and feasibility of the contact force optimization *** results demonstrate that this approach can be used to design a motion controller for a hexapod robot with a significantly improved motion *** summary,the proposed contact force optimization method offers a promising solution for enhancing the motion stability of hexapod robots with single leg failures and has the potential to significantly advance the development of fault-tolerant hexapod robots for various applications.

关键词： Hexapod robot Fault-tolerant Stability margin Contact force optimization

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Polarized Modulation for RIS-Aided Vehicular Communication Networks

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IEEE Internet of Things Journal 2025年

作者： Shang, Pingping Xie, Longhui Li, Jun Feng, Li Hai, Han Xu, Binbin Li, Jie Yu, Ling Hubei University of Technology School of Electrical and Electronic Engineering Wuhan430068 China Hubei University of Technology Hubei Key Laboratory for High-efficiency Utilization of Solar Energy and Operation Control of Energy Storage System Wuhan430068 China Guangzhou University Research Center of Intelligent Communication Engineering School of Electronics and Communication Engineering Guangzhou510006 China Key Laboratory of On-Chip Communication and Sensor Chip of Guangdong Higher Education Institutes Guangzhou510006 China Donghua University School of Information Science and Technology Shanghai201620 China Maritime Communication Research Institute Wuhan430068 China Guangdong Provincial Hospital of Chinese Medicine Guangzhou510120 China State Key Laboratory of Traditional Chinese Medicine Syndrome Guangzhou510120 China

The reconfigurable intelligent surface (RIS) stands as an emergent technique poised to revolutionize future vehicular communication. In order to facilitate the application of RIS in vehicular communication, this paper proposes two effective RIS-aided schemes tailored for polarization modulation (PM) aiming to achieve remarkable spectral efficiency. Specifically, Scheme I proposes a novel index modulation (IM) aided PM-RIS framework that innovatively encodes information across three distinct dimensions, the indices of dual-polarized antennas (DP-AEs), PM symbols and the reflecting surface indices of the RIS. Scheme II employs a deep neural network method to analyze the channel state information (CSI) for transmit antenna selection, that enhances the reliability and interference immunity in dynamic conditions while reducing computational complexity. Furthermore, a stepwise estimation (SE) method is introduced at the detection stage, which significantly reduces the complexity associated with information decoding. The simulation results highlight the superiority of the proposed system. Compared with traditional PM systems, it demonstrates enhanced performance in terms of spectral efficiency, channel stability, and bit error rate (BER). © 2014 IEEE.

关键词： Signal modulation

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Multi-modal Bionic Motion Analysis of A Cpg-controlled Pneumatic Soft Robot

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Journal of Bionic Engineering 2024年第5期21卷 2247-2257页

作者： Yu Zhang Peiyu Huang Dongjie Li Jiangyu Zhou Yu Li Bo You Yanhe Zhu Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and TechnologyHarbin150080China State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin150001China

This paper designs a soft robot with a multi-chamber,multi-airbag mimicking soft biological structure,where the airbags of the same chamber are interconnected with each *** upper and lower chambers are separated by an intermediate layer(thin plate),which is extended and widened to achieve robot movement and *** applying pressure to the different chambers of the soft robot,it is possible to produce a variety of bionic movements of the inchworm and *** to the strong nonlinearity and infinite number of degrees of freedom properties of the material,it is impossible to obtain the analytical solution of the bending morphology and pressure of the soft robot ***,a method to establish a mathematical model of soft robot deformation based on the classical stacked plate theory is proposed,and a chain composite model of soft robot bending motion is established based on the large-deflection modeling *** paper proposes a method to generate a multi-mode soft robot motion control based on the Central Pattern Generator(CPG)using a single controller,which achieves the switching of sine wave-like patterns,half-wave-like patterns,and dragging patterns by adjust-ing frequency,amplitude and period of ***,a pneumatic control platform is built for the validation of the theoretical model and different experimental models of the motion of the *** comparation of the different motion modes of the soft robot under similar non-load and load conditions.

关键词： Soft robot Bionic multi-modal movement Laminated plate theory CPG control

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Design of deployable bridge using multistable miura-ori structure for emergency rescue

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Automation in Construction 2025年 176卷

作者： Wang, Wei Li, Xu Yan, Peng Huang, Hailin Li, Bing School of Robotics and Advanced Manufacture Harbin Institute of Technology Shenzhen518052 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518052 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Rapid deployment equipment is crucial in emergency rescue operations during natural disasters such as earthquakes and floods. However, traditional equipment often has limitations such as complex operations, long deployment times, and high manpower requirements. This paper designs a deployable bridge for post-disaster rescue, with its core component being a bistable Miura-ori unit. Bistable characteristics of the Miura-ori unit are shown. Then, finite element model (FEM) and prototype experiments are used to demonstrate the load-bearing capacity and bistable characteristics of the bistable Miura-ori unit. By arranging the bistable Miura-ori units, a deployable bridge with multistable characteristics is achieved, enabling rapid deployment with a single drive. The load-bearing and impact resistance capabilities of the bridge are also tested. This design significantly simplifies system complexity, reduces labor requirements, and ensures high load-bearing capacity and impact resistance, providing a new solution for emergency rescue. © 2025 Elsevier B.V.

关键词： Emergency services

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FaceBench: A Multi-View Multi-Level Facial Attribute VQA Dataset for Benchmarking Face Perception MLLMs

arXiv

引用

arXiv 2025年

作者： Wang, Xiaoqin Ma, Xusen Hou, Xianxu Ding, Meidan Li, Yudong Chen, Junliang Chen, Wenting Peng, Xiaoyang Shen, Linlin Computer Vision Institute College of Computer Science and Software Engineering Shenzhen University China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University China Guangdong Provincial Key Laboratory of Intelligent Information Processing China AIAC Xi’an Jiaotong-Liverpool University China Tsinghua University China The Hong Kong Polytechnic University Hong Kong City University of Hong Kong Hong Kong Sun Yat-sen University China

Multimodal large language models (MLLMs) have demonstrated remarkable capabilities in various tasks. However, effectively evaluating these MLLMs on face perception remains largely unexplored. To address this gap, we introduce FaceBench, a dataset featuring hierarchical multi-view and multi-level attributes specifically designed to assess the comprehensive face perception abilities of MLLMs. Initially, we construct a hierarchical facial attribute structure, which encompasses five views with up to three levels of attributes, totaling over 210 attributes and 700 attribute values. Based on the structure, the proposed FaceBench consists of 49,919 visual question-answering (VQA) pairs for evaluation and 23,841 pairs for fine-tuning. Moreover, we further develop a robust face perception MLLM baseline, Face-LLaVA, by training with our proposed face VQA data. Extensive experiments on various mainstream MLLMs and Face-LLaVA are conducted to test their face perception ability, with results also compared against human performance. The results reveal that, the existing MLLMs are far from satisfactory in understanding the fine-grained facial attributes, while our Face-LLaVA significantly outperforms existing open-source models with a small amount of training data and is comparable to commercial ones like GPT-4o and Gemini. The dataset will be released at https://***/CVI-SZU/FaceBench. Copyright © 2025, The Authors. All rights reserved.

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Two-stage Distributionally robust optimization for hydrogen-IES participation in energy-carbon trading-frequency regulation ancillary services market

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Energy 2025年 328卷

作者： Fei Li Dong Wang Hengdao Guo Zhan Liu Jianhua Zhang Zhifang Lin School of Electrical Engineering and Automation Jiangsu Normal University Xuzhou Jiangsu 221116 China Guangdong Provincial Key Laboratory of Intelligent Operation and Control for New Energy Power System Guangzhou Guangdong 510663 China

This study presents a novel hydrogen-Integrated Energy system (HIES) that incorporates hydrogen refinement utilization and participates in the Energy-Carbon Trading Market (CTM)-Frequency Regulation Auxiliary Service Market (FRASM). First, the proposed HIES refines the hydrogen utilization, where the hydrogen produced by surplus electricity is utilized by combustion blending with gas in Combined Heat and Power (CHP) and Gas Boiler (GB), Hydrogen Fuel Cell (HFC), gas synthesis with CO 2 and hydrogen storage. Then, multiple markets model, including Energy-FRASM-CTM market are comprehensively and firstly established, where the HIES can aggregate flexible resources to participate in Energy-FRASM, which provide a promising way to reduce operation costs within the CTM. Finally, to mitigate the Renewable Energy (RE) uncertainties within the proposed HIES, the paper implement a two-stage Distributionally Robust Optimization (DRO) method grounded in comprehensive norm ambiguity. A case study is carried out to corroborate the efficacy of the proposed innovations. The results underscore the remarkable performance of hydrogen refinement utilization on RE accommodation, operation costs and carbon emissions. Moreover, the participation in multiple markets can gain the comprehensive effect, which reduce operation costs by 154.47 % within FRASM and carbon emissions by 12.71 % compared to the scenario without CTM.

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An ANN based approach for gait prediction of a lower-limb exoskeleton with plantar pressure sensors

An ANN based approach for gait prediction of a lower-limb ex...

引用

6th International Conference on intelligent robotics and Applications, ICIRA 2013

作者： Liu, Yuzhang Wang, Can Zheng, Duan Wang, Gang Wu, Xinyu Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Shenzhen Institutes of Advanced Technology China

ISBN: (纸本)9783642408519

This paper proposes an approach based on Artificial Neural Network (ANN) method for gait prediction of a lower-limb exoskeleton equipped with plantar pressure sensors and a pair of crutches. This approach can be implemented to predict the exact moment to change gait motion status. Further, the proposed approach can help to decide the starting movement speed of the pilot, through predictions on angular velocities of joints of both knees and hips. In this way, the exoskeleton can cope better with the pilot. Experimental results show that the new approach can capture the starting point of a new move, as well as predict the starting movement speed based on inputs from pressure sensors installed under pilot's plantar and crutches. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Forecasting

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