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Integrated Cross-Scale Manipulation and Modulable Encapsulation of Cell-Laden Hydrogel for Constructing Tissue-Mimicking Microstructures

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Research 2025年第1期2024卷 704-717页

作者： Yanfeng Zhao Xinyi Dong Yang Li Juan Cui Qing Shi Hen-Wei Huang Qiang Huang Huaping Wang Intelligent Robotics Institute School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Peking University First Hospital Xicheng DistrictBeijing 100034China Key Laboratory of Instrumentation Science and Dynamic Measurement Ministry of EducationNorth University of ChinaTaiyuan 030051China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Laboratory for Translational Engineering Harvard Medical SchoolCambridgeMA 02139USA Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of EducationBeijing 100081China

Engineered microstructures that mimic in vivo tissues have demonstrated great potential for applications in regenerative medicine,drug screening,and cell behavior ***,current methods for engineering microstructures that mimic the multi-extracellular matrix and multicellular features of natural tissues to realize tissue-mimicking microstructures in vitro remain ***,we propose a versatile method for constructing tissue-mimicking heterogeneous microstructures by orderly integration of macroscopic hydrogel exchange,microscopic cell manipulation,and encapsulation ***,various cell-laden hydrogel droplets are manipulated at the millimeter scale using electrowetting on dielectric to achieve efficient hydrogel ***,the cells are manipulated at the micrometer scale using dielectrophoresis to adjust their density and arrangement within the hydrogel ***,the photopolymerization of these hydrogel droplets is triggered in designated regions by dynamically modulating the shape and position of the excitation ultraviolet ***,heterogeneous microstructures with different extracellular matrix geometries and components were constructed,including specific cell densities and *** resulting heterogeneous microstructure supported long-term culture of hepatocytes and fibroblasts with high cell viability(over 90%).Moreover,the density and distribution of the 2 cell types had significant effects on the cell proliferation and urea *** propose that our method can lead to the construction of additional biomimetic heterogeneous microstructures with unprecedented potential for use in future tissue engineering applications.

关键词： cell behavior explorationhowevercurrent tissue mimicking microstructures cell laden hydrogel electrowetting dielectric regenerative medicinedrug screeningand heterogeneous microstructures engineered microstructures orderly integration

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Versatile Jumping of Humanoid Robots via Curriculum-Assisted Reinforcement Learning

Versatile Jumping of Humanoid Robots via Curriculum-Assisted...

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2024 China Automation Congress, CAC 2024

作者： Tan, Ruiyu Li, Xueai Ni, Fenglei Zhou, Dong Ji, Yi Shao, Xiangyu Key Laboratory of Autonomous Intelligent Unmanned Systems Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9798350368604

Versatile jumping is crucial for agile and adaptive behavior of humanoid robots in complex environments. However, humanoid robots have to manage impact forces while maintaining balance and stability throughout the take-off, flight, and landing phases, which imposes significant challenges for motion planning and controller design. This paper proposes a curriculum-assisted reinforcement learning framework for the humanoid robot to achieve various jumping tasks. The curriculum learning divides the jump training process into multi-stages and design different episodes in each stage to guarantee the training feasibility and generalize learned skills. Simulations on a 28 DOFs humanoid robot verify the excellent diverse jumping capability of the proposed policy. This exploration of different tasks also proves the policy’s robustness, allowing the robot quickly recover from perturbations using a variety of learned maneuvers. © 2024 IEEE.

关键词： Anthropomorphic robots

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Robustness and Push Recovery of Humanoid Robots Using Predictive and Whole-Body Control

Robustness and Push Recovery of Humanoid Robots Using Predic...

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2024 IEEE International Conference on Unmanned systems, ICUS 2024

作者： Zhang, Shaojie Ni, Fenglei Li, Xueai Li, Xu Ji, Yi Shao, Xiangyu State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Key Laboratory of Autonomous Intelligent Unmanned Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9798350384185

Robustness walking and recovery ability in uneven terrains and unexpected collisions are crucial for the practical application of humanoid ***, existing methods struggle to effectively balance stability, motion safety and walking *** paper proposes a hybrid control strategy combing Nonlinear Model Predictive Control (NMPC) and Whole-Body Control (WBC) to improve the robot's walking stability and reaction safety in collisions *** NMPC generates long-term and macroscopic movements, with capture point theory being utilized for foot placements determination under external *** this foundation, the WBC regulates the robot refinedly in real-time based on task priorities and *** verify the effectiveness of the proposed method, involving uneven terrain walking and external impacts rejection. © 2024 IEEE.

关键词： Anthropomorphic robots

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Advances in Wireless,Batteryless,Implantable Electronics for Real‑Time,Continuous Physiological Monitoring

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Nano-Micro Letters 2024年第3期16卷 254-302页

作者： Hyeonseok Kim Bruno Rigo Gabriella Wong Yoon Jae Lee Woon‑Hong Yeo IEN Center for Wearable Intelligent Systems and Healthcare Georgia Institute of TechnologyAtlantaGA 30332USA George W.Woodruff School of Mechanical Engineering Georgia Institute of TechnologyAtlantaGA 30332USA School of Electrical and Computer Engineering Georgia Institute of TechnologyAtlantaGA 30332USA Wallace H.Coulter Department of Biomedical Engineering Georgia Tech and Emory University School of MedicineAtlantaGA 30332USA Parker H.Petit Institute for Bioengineering and Biosciences Institute for MaterialsInstitute for Robotics and Intelligent MachinesGeorgia Institute of TechnologyAtlantaGA 30332USA

This review summarizes recent progress in developing wireless,batteryless,fully implantable biomedical devices for real-time continuous physiological signal monitoring,focusing on advancing human health *** considerations,such as biological constraints,energy sourcing,and wireless communication,are discussed in achieving the desired performance of the devices and enhanced interface with human *** addition,we review the recent achievements in materials used for developing implantable systems,emphasizing their importance in achieving multi-functionalities,biocompatibility,and *** wireless,batteryless devices offer minimally invasive device insertion to the body,enabling portable health monitoring and advanced disease ***,we summarize the most recent practical applications of advanced implantable devices for human health care,highlighting their potential for immediate commercialization and clinical uses.

关键词： Implantable electronics Biomedical systems Batteryless devices Wireless electronics Physiological signal monitoring

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Fixformer: Air Pollution Forecast in Fixed Time Interval without Sequence-to-Sequence Structure

Fixformer: Air Pollution Forecast in Fixed Time Interval wit...

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2023 China Automation Congress, CAC 2023

作者： Tang, Daiwei Cheng, Lei Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

ISBN: (纸本)9798350303759

The Transformer-based models have been successfully applied in time series forecasting tasks. However, most of these models retain the sequence-to-sequence structure, which is widely used in Natural Language Processing (NLP) tasks. In this paper, we aim to determine whether the sequence-to-sequence structure can be replaced. Thus, we designed the Fixformer model, which changes the sequence-to-sequence structure to an N-to-T structure. We applied this model to an air pollution forecasting task and selected the forecast time interval T using Fast Fourier Transform (FFT) analysis. The experimental results indicate that our Fixformer achieves an equivalent forecast accuracy to the Transformer, and the Fixformer requires less training time. © 2023 IEEE.

关键词： Fast Fourier transforms

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Improved Part-Based Kernel Correlation Filter for Object Tracking and Robot Grasping

Improved Part-Based Kernel Correlation Filter for Object Tra...

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2023 China Automation Congress, CAC 2023

作者： Wu, Linqigao Yu, Menghui Fang, Hongping Wu, Shiqian Cui, Xining Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

ISBN: (纸本)9798350303759

Robot occlusion and scale variations are the two main challenges that need to be solved in the robot grasping problem. An improved part-based correlation filter tracking algorithm with occlusion awareness and scale adaptation is proposed. Firstly, an occlusion-aware mechanism based on the maximum response value and HSV (Hue, Saturation, Value) correlation coefficient is defined to find nonoccluded reliable parts. Then, a novel Local-global tracking schema is proposed as follows: Four local part-based correlation filters with an Over-Overlap structure are designed to track the corresponding part tracking object individually. The global filter determines its initial position estimate and scale variation parameters based on nonoccluded local filters to suppress frame drift caused by occlusion. Meanwhile, the global filter provides accurate object position feedback to each local filter for tracking the next frame. Compared to the Kernel Correlation Filter (KCF), experimental results on the OTB-2013 public dataset show that our method boosts accuracy by 2.2% and elevates the success rate by 4.4%. Furthermore, it exhibits precise grasping in real-world robot grasping experiments. © 2023 IEEE.

关键词： Tracking (position)

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Voice Assisted Pick and Place using a Mobile Manipulator for Warehouse Scenarios 10

Voice Assisted Pick and Place using a Mobile Manipulator for...

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10th IEEE Uttar Pradesh Section International Conference on Electrical, Electronics and Computer Engineering, UPCON 2023

作者： Agarwal, Ananya Kushwaha, Vandana Kala, Rahul Nandi, Gora Chand Indian Institute of Information Technology Center of Intelligent Robotics Prayagraj Allahabad India

ISBN: (纸本)9798350382471

This paper presents a voice-assisted pick and place system using a mobile manipulator. The system consists of a voice recognition module, a Kinova Gen 3 Lite arm, and a Jackal mobile base. The voice recognition module is used to recognize the user's command and convert it into a robotic arm command. An RGB-D camera is used to detect the object and estimate the depth to get the grasp pose. The motion of the manipulator is planned using the RRTConnect algorithm in order to reach the object avoiding any possible collision. Then the arm is used to pick and place the desired object, while the mobile platform is used to move the robotic arm to the desired location. The system is tested and evaluated with a variety of objects in different sizes and shapes and is found to be accurate and reliable. The results show that the system is capable of performing pick and place operations with high accuracy and speed. The results also demonstrate that the system can be used in real-world applications and can be used as an effective pick-and-place assistant. © 2023 IEEE.

关键词： Dynamic Window Approach Grasping Manipulation Navigation ObjectDetection Pick and Place RRT-Connect

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Cooperative output regulation of heterogeneous directed multi-agent systems:a fully distributed model-free reinforcement learning framework

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Science China(information Sciences) 2025年第2期68卷 170-185页

作者： Xiongtao SHI Yanjie LI Chenglong DU Huiping LI Chaoyang CHEN Weihua GUI Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics School of Mechanical Engineering and AutomationHarbin Institute of Technology (Shenzhen) School of Automation Central South University School of Marine Science and Technology Northwestern Polytechnical University School of Information and Electrical Engineering Hunan University of Science and Technology

In this paper, the cooperative output regulation(COR) problem of a class of unknown heterogeneous multi-agent systems(MASs) with directed graphs is studied via a model-free reinforcement learning(RL) based fully distributed eventtriggered control(ETC) strategy. First, we consider the scenario that the exosystem is accessible globally to all agents, an internal model-based augmented algebraic Riccati equation(AARE) is constructed, and its solution is learned by the proposed model-free RL algorithm via online input-output data. Further, for the scenario that the exosystem is accessible only to its adjacent followers, the distributed observers are designed for each agent to get the state of the exosystem, and an internal modelbased fully distributed adaptive ETC protocol is then synthesized to construct the corresponding AARE, and the feedback gain matrix is learned in a model-free fashion. The model-free RL-based control protocol proposed in this paper can not only remove the prior knowledge of agents' dynamics, but also release the dependence on global information by the adaptive event-triggered mechanism(ETM) and the new graph-based Lyapunov function. Finally, simulation results are illustrated to show the feasibility and effectiveness of the proposed control scheme.

关键词： model-free reinforcement learning unknown heterogeneous multi-agent systems fully distributed event-triggered control directed graph

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A Non-Calibration Nonlinear Errors Correction Method for Phase-shifting Patterns

A Non-Calibration Nonlinear Errors Correction Method for Pha...

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2024 China Automation Congress, CAC 2024

作者： Zheng, Yujie Chen, Bin Wu, Shiqian Institute of Robotics and Intelligent System School of Information Science and Engineering Wuhan University of Science and Technology Wuhan China

ISBN: (纸本)9798350368604

To reduce phase errors caused by nonlinear responses in the measurement system, we propose a non-calibration correction method for nonlinear errors in phase-shifting patterns. First, the captured grating fringes are transformed using a Fourier transform to convert the images from the gray scale to the frequency domain. The first harmonic frequency is then determined using an appropriate method. Second, the appropriate filter cutoff frequency is calculated by combining the phase-shift algorithm's sensitivity to different harmonics with frequency response curves. Low-pass filtering is then performed on the phase-shift patterns to suppress high frequencies caused by nonlinear responses, thus reducing phase errors in the actual measurement process. Finally, the standard plane and other irregularly shaped objects were reconstructed using the proposed method and other techniques. Measurement errors under different conditions were then compared. Experimental results show that the proposed method significantly suppresses gamma nonlinear responses and achieves high measurement accuracy and efficiency. © 2024 IEEE.

关键词： Low pass filters

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Pilot study on Human-in-the-loop optimization of ankle exoskeleton assistance based on plantar pressure interaction 5

Pilot study on Human-in-the-loop optimization of ankle exosk...

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5th International Conference on Artificial Intelligence and Computer Science, AICS 2023

作者： Chen, Jianyu Ding, Jianquan Zhang, Juanjuan Tianjin Key Laboratory of Intelligent Robotics Institute of Robotics and Automatic Information Systems Nankai University Tianjin300350 China

ISBN: (纸本)9781510668621

Lower limb exoskeletons can enhance human locomotion performance and provide aid in rehabilitation. Due to human interpersonal differences, identifying a proper assistance strategy is challenging. The uptake of embodied intelligence that learns individuals’ needs and tasks’ requirements will help exoskeleton systems achieve their potential under different scenarios. Utilizing the evolution strategy to explore human reaction under exoskeleton assistance, "human-in-the-loop" (HIL) optimization is promising to obtain suitable assistance patterns. However, most current HIL optimizations use physiological signals, such as metabolic consumption and muscle activity, as the objective function to minimize, which need a long time to be evaluated and are inconvenient for real-life use. In the study, we aimed to construct a HIL optimization strategy to search effective exoskeleton assistance patterns based on the human-robot interactive force measured by wearable sensors. We first used a unilateral cable-driven ankle exoskeleton to explore the characteristics of human-robot interaction under 20 assistance patterns. A plantar-pressure-based cost function was constructed and real-timely evaluated for HIL optimization. A pilot experiment was conducted with a single participant. Optimized exoskeleton assistance can improve the individual walking economy by a 41.2% reduction in soleus muscle activity and a 21.3% decrease in metabolic cost. The proposed method is promising to improve the HIL optimization time efficiency and promote more effective real-life exoskeleton applications. © 2023 SPIE.

关键词： Cost functions

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