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BPS2025 - Twisting, stretching, and imaging chiral biopolymers, such as DNA, in real time

Biophysical Journal 2025年第3期124卷 379a-379a页

作者： Jack W. Shepherd Jamieson A.L. Howard Sebastien Guilbaud Zhaokun Zhou Mark C. Leake School of Physics Engineering and Technology University of York York United Kingdom Cairn Research Ltd. Faversham United Kingdom Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Guangdong China Department of Biology University of York York United Kingdom

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Design and analysis of a flying-crawling spherical robot for multi-mode movement

Design and analysis of a flying-crawling spherical robot for...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Lu, Pengfei Xu, Kun Ding, Xilun Jiang, Shuiqing Tang, Zixin Wang, Yaobing Beihang University Robotics Institute of School of Mechanical Engineering and Automation Beijing China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9781728163215

A novel spherical robot named flying-crawling spherical robot is designed in this paper. It can fly or roll on ground with its single rotor and eight tail fins. When its limbs stretch out it can crawl on the supporting surface. Besides, with its limbs the robot can realize carrying objects, landing on uneven ground and walking on the supporting surface. Dynamic model of the robot in flight mode is established and the motion characteristics are analyzed. A PID control system is designed to enable the robot to achieve stable flight. Trot gait planning of the robot is given and a PID controller is designed for tail fins assistant in crawling mode. Corresponding simulations are carried out and the simulation results verify the proposed methods. © 2019 IEEE.

关键词： Three term control systems

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Advanced Centroid State Estimation and Instability Detection Framework Leveraging UKF and AdvSAE-LSTM

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IEEE Sensors Journal 2025年

作者： Mao, Han Zhu, Aibin Tu, Yao Song, Jiyuan Zheng, Chunli Li, Meng Xu, Peng Shi, Lei Liu, Yang Li, Xiao Guan, Zhenpeng Xi'an Jiaotong University Institute of Robotics and Intelligent Systems Shaanxi Key Laboratory of Intelligent Robots Xi'an710049 China Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System Xi'an710049 China Xi'an Jiaotong University School of Energy and Power Engineering Xi'an710049 China Xi'an Jiaotong University School of Mechanical Engineering Xi'an710049 China Xi'an Jiaotong University Honghui Hospital Xi'an710000 China Xi'an Jiaotong University Department of Sports Xi'an710049 China Xi'an Jiaotong University Second Affiliated Hospital Department of General Surgery Xi'an710004 China Fourth Medical Center of PLA General Hospital Department of Rehabilitation Senior Department of Orthopedics Beijing100048 China Sports Medicine and Rehabilitation National Clinical Research Center for Orthopedics Beijing100048 China Peking University Shougang Hospital Orthopedics Department Beijing100144 China

With the growing aging population, fall detection has become a significant research focus in recent years. However, most existing studies have not effectively improved the accuracy of centroid state estimation in human instability, particularly in terms of multi-source information fusion. To address this, we propose a centroid state estimation method based on the Unscented Kalman Filter (UKF), integrating data from the five-link model and trunk IMU sensors, significantly enhancing both the accuracy and robustness of centroid state estimation. Experimental results demonstrate that the proposed method achieves estimation errors of 0.0099 m and 0.0226 m/s for centroid displacement and velocity in the x-direction, and 0.0006 m and 0.0099 m/s in the y-direction, indicating high accuracy. To overcome the reliance of traditional supervised learning methods on large amounts of labeled data for instability state estimation, we propose an unsupervised learning-based instability state estimation method, featuring the AdvSAE-LSTM model. Data from different sensors are preprocessed and independent training datasets are constructed, after which the feature maps from each sensor are concatenated to form a global feature map. Compared to baseline methods, the proposed approach significantly improves instability state detection performance. Specifically, when the SAS threshold is set to 0.02, both the False Positive Rate (FPR) and False Negative Rate (FNR) are 0%, with a detection delay of only 77.16 ms, achieving highly efficient and accurate estimation of human instability states. © 2025 IEEE.

关键词： Kalman filters

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Experiments on the relationship between the structural parameters of contraposition transducers and the acoustic levitation transportation trajectory

Experiments on the relationship between the structural param...

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2019 International Congress on Ultrasonics, ICU 2019

作者： Dong, Huijuan Sui, Mingyang Mao, Chuncheng Mu, Guanyu Zhao, Jie School of Mechatronics Engineering Harbin Institute of Technology Hei Longjiang Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China

ISBN: (纸本)9781665407090

Standing wave acoustic levitation transportation technique has been widely used in many research areas. In this work, two Langevin-type piezoelectric transducers' central lines are mounted at a certain angle which is named a contraposition transducer array. The levitator developed in this work is constructed using the array and a reflector. Accordingly, a standing wave acoustic field is formed to levitate and transport particles by optimizing the angle between central lines of the two transducers, the distance between the two transducers' output and their reflectors, the exciting phase differential on the two transducers. In this standing wave acoustic field, the trapped objects can be levitated and transported by modulating the exciting phase difference of the two transducers. In this work, the locations of the levitated particles are acquired by a high speed video camera and are clarified using the Hough Circle algorithm. The experiments carried out by the authors have demonstrated the effects of the levitator's structure parameters (including the angle between central lines of the two transducers, the distance between the two transducers' output and the reflector) on the transportation trajectory. © 2020 Acoustical Society of America.

关键词： Video cameras

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Grip Force Perception Based on dAENN for Minimally Invasive Surgery Robot

Grip Force Perception Based on dAENN for Minimally Invasive ...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Guo, Yongchen Pan, Bo Fu, Yili Meng, Max Q.-H. Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang China Chinese University of Hong Kong Department of Electronic Engineering Hong Kong

ISBN: (纸本)9781728163215

Although robot assisted minimally invasive surgery brings the gospel to patients, force perception is gone. Among all the contact forces during surgery, the instrument grip force plays the most important role. In this paper, a grip force perception method based on denoising AutoEncoder Neural Network (dAENN) is proposed. The method utilizes sensor data including encoder readings and motor current over a time window as the input of dAENN for sufficient information. An Artificial Neural Network (ANN) is then introduced as a machine learning tool to learn the nonlinear mapping between the compact features and grip force labels. Feature extraction is first introduced into grip force perception problem in this paper. Experiment results shows adequate expressive capability of the extracted coding as well as the superior grip force perception performance over several popular data-based methods under the same dataset. © 2019 IEEE.

关键词： Neural networks

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Access control models a systematic review

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Studies in Health Technology and Informatics 2019年 261卷 246-252页

作者： Gazzarata, Giorgia Blobel, Bernd Department of Informatics Bioengineering Robotics and System Engineering University of Genoa Italy Medical Faculty University of Regensburg Germany EHealth Competence Center Bavaria Deggendorf Institute of Technology Germany First Medical Faculty Charles University Prague Czech Republic

Within a healthcare environment, organizational, legal, functional, social, ethical, and technical requirements must be met. In that context, security and safety are important challenges, which highly influence user acceptance. In such a complex scenario, privilege management and access control are critical for data security and patients' privacy. On the other end, the appropriate use of care data should not be prevented by data protection measures. In order to enable an adequate use of data, all the policies ruling the care process must be harmonized. In order to pursue this aim, the health system's architecture must be formally described at the required level of granularity using a system theory based architectural model. The resulting representation can be used as a mean to compare the different access control models governing the different parts of the distributed environment and to perform policy harmonization. © 2019 The authors and IOS Press. All rights reserved.

关键词： Access control models

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Pneumatically Actuated MR-Safe Parallel Robot for Deep Brain Stimulation Electrode Implantation

Pneumatically Actuated MR-Safe Parallel Robot for Deep Brain...

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IEEE International Conference on robotics and Biomimetics

作者： Weihang Huang Shenghao Dai Anze Xu Xianyi He Shaoping Huang Anzhu Gao School of Mechanical Engineering Shanghai Jiao Tong University Shanghai Jiao Tong University Institute of Medical Robotics and School of Biomedical Engineering Shanghai Jiao Tong University Shanghai China the Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9781665405362

Deep brain stimulation (DBS) has been widely used in clinical practice as an effective therapy for neurological disorders. MR-conditional robot-assisted electrode implantation has attracted more attention for DBS because of its great accuracy and high-quality guiding images by using MRI. This paper develops a pneumatically actuated MR-safe parallel robot for deep brain electrode implantation. Its fully plastic components and MR-safe pneumatic actuators enable the robotic system to be MR-safe, posing no known hazards in MR environment. A 6-DOF parallel robot is developed using six slider-crank mechanisms for prismatic motions. Inverse kinematics is built to investigate its workspace and achieve the precise control. Experiments are carried out to validate the feasibility, and results shows that the average error of the motion is 0.11 mm. The developed parallel robot shows the potential advantages in the automatic and precise robot-assisted neurosurgical surgery in future.

关键词： Electrodes Pneumatic actuators Neurological diseases Parallel robots Magnetic resonance imaging Satellite broadcasting Deep brain stimulation

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A Local Dynamic Path Planning Approach for WMRs Based on Fuzzy Dual CHOMP 9

A Local Dynamic Path Planning Approach for WMRs Based on Fuz...

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9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent systems, CYBER 2019

作者： Li, Zhi Ding, Liang You, Bo Gao, Haibo Mechanical Power Engineering College Harbin University of Science and Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728107691

Wheeled mobile robots (WMRs) are widely utilized in exploration tasks on different planets. The path planning technique is required to guide a WMR to a target point or region. A new path planning method in a dynamic environment is proposed. The method improves the original dual Covariant Hamiltonian Optimization for Motion Planning (CHOMP) method by a fuzzy reasoning module and Nonmonotone Gradient Projection Algorithm (NGPA). Thus, this method can achieve low cost paths while maintaining the accessibility of each path nodes. The method to establish local dynamic cost map based on a new velocity-based artificial potential field (VAPF) is proposed as the environment for path planning. Thus, the low cost paths can guide a WMR away from obstacles. Results of the simulations show that the path planning method can dynamically generate a smooth path for a WMR to avoid obstacles. © 2019 IEEE.

关键词： Mobile robots

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Bacteria Flagella-Mimicking Polymer Multilayer Magnetic Microrobots

SSRN

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SSRN 2024年

作者： Wu, Zhiguang Lu, Liang Bai, Shuang Shi, Jiaqi Zhang, Zhuotao Pan, Yunlu Wang, Wei Wu, Wenfeng Sun, Shoubin Li, Xu Hou, Gang Huang, Tianyun Jia, Yuxin Zuo, Kaiwen Granovsky, Alexander Wu, He Nikolai, Perov School of Medicine and Health Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China The First Affiliated Hospital of Harbin Medical University Harbin China National Center for Respiratory Medicine State Key Laboratory of Respiratory Health and Multimorbidity National Clinical Research Center for Respiratory Diseases Institute of Respiratory Medicine Chinese Academy of Medical Sciences Department of Pulmonary and Critical Care Medicine Center of Respiratory Medicine China-Japan Friendship Hospital Beijing China College of Science Sichuan Agricultural University Chengdu China The Fourth Affiliated Hospital of Harbin Medical University Harbin China Department of Ophthalmology The Second Hospital Jilin University Changchun China Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China Department of Mathematics Imperial College London United Kingdom Department of Computer Science University of Warwick Coventry United Kingdom Magnetism Department Faculty of Physics Lomonosov Moscow State University Moscow Russia Harbin Medical University China

Learning from natural bacteria flagellum, we demonstrate a magnetic polymer multilayer conical microrobot that bestow the controllable propulsion upon external rotating magnetic field with uniform intensity. The magnetic microrobots were constructed by template-assisted Layer-by-Layer technique technique and subsequent functionalization of magnetic particle onto the big opening of the microrobots. Geometric variables of the polymer microrobots, such as the diameter and wall thickness, can be controlled by selection of porous template and layers of assembly. The microrobots perform controllable propulsion through the manipulation of magnetic field. The comparative analysis of the movement behavior reveals that the deformation of microrobots may attributed to the propulsion upon rotating magnetic field, which is similar as that of natural bacteria. The influence of actuation frequencies and frequencies on the velocity of the microrobots is studied. Such use of polymer polymer multilayer tubular micro/nanoarchitectures results in significant savings in the processing costs and provides a simple and cost-effective fabrication route for the mass production of magnetic polymer microrobots. © 2024, The Authors. All rights reserved.

关键词： Bacteria

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The consistent behavior of negative Poisson's ratio with interlayer interactions

arXiv

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arXiv 2022年

作者： Wang, Yancong Yu, Linfeng Zhang, Fa Chen, Qiang Zhan, Yuqi Zheng, Xiong Wang, Huimin Qin, Zhenzhen Qin, Guangzhao State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body College of Mechanical and Vehicle Engineering Hunan University Changsha410082 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Hunan Key Laboratory for Micro-Nano Energy Materials & Device School of Physics and Optoelectronics Xiangtan University Hunan Xiangtan411105 China School of Physics and Microelectronics Zhengzhou University Zhengzhou450001 China

Negative Poisson's ratio (NPR) is of great interest due to the novel applications in lots of fields. Films are the most commonly used form in practical applications, which involves multiple layers. However, the effect of interlayer interactions on the NPR is still unclear. In this study, based on first principles calculations, we systematically investigate the effect of interlayer interactions on the NPR by comparably studying single-layer graphene, few-layer graphene, h-BN, and graphene-BN heterostructure. It is found that they almost have the same geometry-strain response. Consequently, the NPR in bilayer graphene, triple-layer graphene, and graphene-BN heterostructure are consistent with that in single-layer graphene and h-BN. The fundamental mechanism lies in that the response to strain of the orbital coupling are consistent under the effect of interlayer interactions. The deep understanding of the NPR with the effect of interlayer interactions as achieved in this study is beneficial for the future design and development of micro-/nanoscale electromechanical devices with novel functions based on nanostructures. © 2022, CC BY-NC-SA.

关键词： Graphene

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