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IEEE International Conference on robotics and Biomimetics

作者： Peiyao Zhang Can Wang Yaowei Liu Xin Zhao Mingzhu Sun Institute of Robotics and Automatic Information System (IRAIS) The Tianjin Key Laboratory of Intelligent Robotic (tjKLIR) Nankai University Tianjin China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China

Yolk microinjection of zebrafish larvae is widely used in various biological experiments. In this study, we introduce a visual detection method based on deep learning to the micromanipulation of zebrafish larvae and propose a microinjection method for zebrafish larvae based on the precise positioning of the yolk. The YOLO visual detection algorithm is used to distinguish different zebrafish body parts so that the yolk part of zebrafish larvae could be automatically moved to the center of the microscopic FOV to complete the automatic injection. Experimental results show that the success rate of visual detection is 95.54%, which meets the needs of subsequent experiments to distinguish the categories of zebrafish body parts. Further, the online injection experiments verify the effectiveness of this method.

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Individualization of Assistance Strategy for Hip Extension Assistance based on Emotion-in-the-Loop

Individualization of Assistance Strategy for Hip Extension A...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Wang, Zhuo Yang, Fangliang Chen, Lingxing He, Tingwei Chen, Chunjie Wu, Xinyu Chinese Academy of Sciences Shenzhen Institute of Adanced Technology Shenzhen518055 China University of Chinese Academy of Sciences ShenZhen College of Advanced Technology Shenzhen518055 China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China Peng Cheng Laboratory Shenzhen518055 China Shandong Zhongke Advanced Technology Co. Ltd Jinan250000 China

ISBN: (纸本)9798350325706

The human-in-the-loop optimization strategy has successfully improved the performance of the exoskeleton, but only considering the effect of physiological parameters, such as individual metabolic cost and joint torque differences, are considered. From a psychological perspective, emotion is also a significant factor affecting human gait character, especially during walking, where there are differences in the biological hip torque under different emotions. Inspired by this, we developed an individualization assistance strategy for hip extension based on Emotion-in-the-Loop (EIL) to improve human-exosuit interaction using emotional feedback. First, we classified four typical emotions based on the Support Vector Machine (SVM), the average accuracy of which reached 92.8%. After that, measuring the biological hip moments under different emotions through a motion capture experiment and the individualization of assistance strategy for hip extension assistance was designed based on the result. In the metabolism experiments, the soft exosuit with the EIL method can significantly further reduce metabolic consumption by about 4.5%, 6.7%, and 3.7% under the emotion of excitement, depression, and fear, respectively, in addition to original metabolic consumption reduction of 7.6%, which demonstrated that applying different assistance forces considering emotional changes can considerably reduce metabolic consumption. In the future, this method can be additionally used on different wearable robots to improve the performance of human-robot interaction. © 2023 IEEE.

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Dynamic Fluorescent Imaging for robotic Patch Clamp in vivo: Modeling and Control

Dynamic Fluorescent Imaging for Robotic Patch Clamp in vivo:...

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Chinese Control Conference (CCC)

作者： Ruimin Li Jinyu Qiu Minghui Li Mingzhu Sun Xin Zhao Qili Zhao Institute of Robotics and Automatic Information System (IRAIS) Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotic (tjKLIR) Nankai University Tianjin China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

Fluorescent imaging through fluorescent dye injection is the key technique for lighting the in vivo environment and localizing the target cell in it for patch clamp operation in vivo. At present, manual fluorescent imaging is usually a labor-intensive high-skill requisite work, significantly limiting the application of patch clamp operation in vivo. In this paper, a computational modeling of the diffusion process of the injected fluorescent dye is established using the commercial ANSYS Fluent software. Based on this model, the distribution of the mass fraction, proven to be linearly related to fluorescence intensity, was calculated to simulate the fluorescent field formed by fluorescent dye injection. Further, an ADRC controller was developed to generate feedback-controlled fluorescent fields. With the above model and controller, a mobile fluorescent field, and varying fluorescent field with constant mass fraction at the target position are generated to fulfill the requirement of in vivo environment observation, search and localization of the target cell in patch clamp operation, respectively. The above results prove the feasibility of ADRC-controlled dynamic fluorescent imaging in the patch clamp operation in vivo.

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Design and Validation of Maintenance system for Space Manipulator Grapple Fixture

Design and Validation of Maintenance System for Space Manipu...

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International Conference on Reliability, Maintainability and Safety,ICRMS

作者： Lei Zeng Ben Gao Chao Zhu Chengwei Hu Minghua Xiong Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin China

ISBN: (数字)9798350329988

ISBN: (纸本)9798350329995

The space manipulator plays an integral role in the assembly and construction of the China space station. The grapple fixture is positioned at designated locations on the space station as the foundation for the space manipulator. It is utilized in conjunction with the space manipulator to capture target objects and complete crawling tasks. The performance of the space manipulator is directly impacted by the grapple fixture, and a failure of the grapple fixture can even jeopardize the space station mission. This paper analyzed the maintenance requirements of the grapple fixture, proposed a maintenance system for it, and executed replacement tasks with the assistance of maintenance tools and astronauts in orbit. The feasibility of this approach is verified through ground testing and simulation analysis. The results will serve as a valuable reference and engineering guidance for future space manipulator maintenance.

关键词： Space vehicles Space missions Fixtures Manipulators Reliability engineering Orbits Maintenance Safety Space stations Testing

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Automatic Cell Rotation Method Based on Deep Reinforcement Learning

Automatic Cell Rotation Method Based on Deep Reinforcement L...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Huiying Gong Yujie Zhang Yaowei Liu Qili Zhao Xin Zhao Mingzhu Sun Tianjin Key Laboratory of Intelligent Robotic (tjKLIR) Institute of Robotics and Automatic Information System (IRAIS) Nankai University Tianjin China the Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China

Cell rotation is widely used to adjust cell posture in sub-cellular micromanipulations. The trajectory planning of the injection micropipette is needed, so that the cells can be rotated with the minimum deformation to reduce cell damage and keep cell viability. Due to the uncertainty of cell properties and manipulation environment, it is difficult to identify the parameters of the mechanical models in traditional robotic cell rotation methods. In this paper, deep reinforcement learning is introduced into cell manipulation for the first time to perform trajectory planning of the micropipette. We first abstract the cell rotation process by using the mechanical model and microscopic vision techniques and build a cell rotation simulation environment. Then we design a reward function by combining various factors of cell rotation and implement a reinforcement learning framework based on deep Q-learning (DQL). Finally, we train the cell rotation process based on the deep reinforcement learning algorithm. The simulation results indicate the proposed DQL agent achieved an average success rate of 97% without useless exploration. Moreover, the proposed method rotated the cells in a way that causes less mechanical damage than humans, demonstrating the DRL ability for cell rotation with high efficiency and low cell damage.

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Reliable observer-based control against sensor failures for fractional order systems

Reliable observer-based control against sensor failures for ...

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第42届中国控制会议

作者： Bingxin Li Yujie Zhang Yaowei Liu Xin Zhao Institute of Robotics and Automatic Information System and the Tianjin Key Laboratory of Intelligent Robotics Nankai University Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University

In the paper,stability analysis of a class of incommensurate fractional-order systems(IFOS) is *** sufficient conditions are based on the linear matrix inequality(LMI) and straightforwardly used to solve the feasible solutions with the LMI ***,two examples including a circuit example are given to illustrate the effectiveness of the proposed method,and the comparison with the previous results shows that the proposed method is less conservative.

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Reliability Design of Manipulator Joint for China Space Station 2

Reliability Design of Manipulator Joint for China Space Stat...

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2nd International Conference on Artificial Intelligence, Automation, and High-Performance Computing, AIAHPC 2022

作者： Li, Delun Zhu, Chao Zhang, Yun Bai, Mei Huang, Zhipeng Xie, Zongwu Liu, Teng Fu, Hao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering CAST Beijing100094 China Beijing Satellite Manufacturing Co. Ltd. Beijing100094 China Beijing Institute of Space Environment Engineering Beijing100094 China

ISBN: (纸本)9781510657717

The TianHe manipulator is responsible for major tasks such as China Space Station construction, operation, and supporting astronaut's extravehicular operations. The joint is the direct execution part of the manipulator to realize flexible movement, and it is the key component to ensure the core functions and performance of the China Space Station manipulator, The composition of the joint is complex, and the experience of its reliability design is very poor. So the research of reliability design method for the joint is of great significance. Starting from the joint reliability design method, this paper uses various methods such as redundant design, margin design, and environmental adaptability design to complete the joint reliability design comprehensively. The ideas and methods for reliability design for the joint of the China Space Station manipulator introduced in this paper have important reference value for the reliability design for the space complicated electromechanical products. © 2022 SPIE. All rights reserved.

关键词： Space stations

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Exoskeleton-Based Lower Limb Rehabilitation Robot Design and Simulation for Children with Cerebral Palsy

Exoskeleton-Based Lower Limb Rehabilitation Robot Design and...

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2024 International Convention on Rehabilitation Engineering and Assistive technology and World Rehabilitation Robot Convention, i-CREATE and WRRC 2024

作者： Cao, Wujing Zhang, Shuo Zou, Yupeng Guo, Xinqiang Li, Changyu Wang, Jingxin Kobsiriphat, Worawarit Wu, Xinyu Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518005 China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems China School of Mechanical Engineering China University of Petroleum China Jining Zhongke Intelligent Technology Co. Ltd. China Zhengzhou Central Hospital Zhengzhou University Department of Rehabilitation Medicine Zhengzhou China National Metal and Materials Technology Center Thailand

ISBN: (纸本)9798350355123

Squat gait is the most common abnormal gait in children with cerebral palsy. Gait training with lower limb rehabilitation robots can improve rehabilitation efficiency and reduce manual labor for them. A novel exoskeleton-based lower limb rehabilitation robot for children with cerebral palsy is proposed, considering the squat gait characteristics of children with cerebral palsy. The structure of the lower limb rehabilitation robot, which combines hip and knee with 4 active degrees of freedom exoskeleton and mobile walker, is designed and optimized. Static analysis of the key mechanical structure of the exoskeleton is conducted using ANSYS Workbench, and local structures are optimized to ensure the safety factor of the mechanical structure is greater than 1, guaranteeing reasonable structural strength and stiffness design. Dynamic simulation analysis based on the ADAMS model validates the reliability and dynamic walking effect of the lower limb exoskeleton rehabilitation robot, obtaining the curve relationship between joint angles and motion cycles, thus verifying the effectiveness of the mechanical system motion. © 2024 IEEE.

关键词： Exoskeleton (robotics)

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robotic Inside-out Recording Method Based on Vesicle Rupture Detection

Robotic Inside-out Recording Method Based on Vesicle Rupture...

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International Conference on Manipulation, Automation and robotics at Small Scales (MARSS)

作者： Yuzhu Liu Ruimin Li Jinyu Qiu Zuqi Wang Minghui Li Xin Zhao Qili Zhao National Key Laboratory of Intelligent Tracking and Forecasting for Infectious Diseases Engineering Research Center of Trusted Behavior Intelligence Ministry of Education Tianjin Key Laboratory of Intelligent Robotic (tikLIR) Institute of Robotics and Automatic Information System(IRAIS). Nankai University. Tianjin China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China

ISBN: (数字)9798350376807

ISBN: (纸本)9798350376814

The inside-out patch clamp technique is widely used in brain science and neuroscience research because of its ability to detect the extremely weak currents flowing through a single ion channel. In the inside-out patch clamp operations, a micrometer-scale dimensions pipette is used to aspirate part of the cell membrane, creating a giga omega-scale seal (usually termed as gigaseal) between the cell membrane and the inner wall of the micropipette to suppress the environmental electromagnetic noise. The aspirated cell membrane is then gently pulled away from the cell to form a vesicle, which is subsequently exposed to low-calcium liquid or air to induce its rupture, forming an inside-out seal for signal detection on a single ion channel. Current manual operations of inside-out patch clamp are complex and require a high level of operator expertise. Moreover, existing robotic inside-out patch clamp technologies are usually applicable to suspension cells, limiting the widespread application of this technique. This paper proposed a robotic inside-out recording patch clamp technique based on vesicle rupture detection to address these limitations. Firstly, impedance models were established to detect the state of the vesicle before and after the rupture. Further, the detection of vesicle rupture was performed based on transmembrane current responses under step inputs. Based on the above work, a robotic inside-out recording patch clamp method based on vesicle rupture detection was established in this paper. Experimental results demonstrated the effectiveness of the proposed method in achieving successful inside-out recording patch clamp mode on adherent HEK-293 cells with a success rate of 60 %, laying the foundation for subsequent studies on single ion channel functionality.

关键词： Vesicles Neuroscience Liquids Limiting Seals Ions Recording

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Experimental demonstration of 8190-km long-haul semiconductor-laser chaos synchronization induced by digital optical communication signal

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光：科学与应用（英文版） 2025年第2期14卷 333-343页

作者： Anbang Wang Junli Wang Lin Jiang Longsheng Wang Yuncai Wang Lianshan Yan Yuwen Qin Key Laboratory of Photonic Technology for Integrated Sensing and Communication Ministry of Education of ChinaGuangdong University of TechnologyGuangzhou 510006China Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi ProvinceTaiyuan 030024China Institute of Advanced Photonics Technology School of Information EngineeringGuangdong University of TechnologyGuangzhou 510006China Guangdong Provincial Key Laboratory of Information Photonics Technology Guangdong University of TechnologyGuangzhou 510006China Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi ProvinceTaiyuan 030024China College of Physics and Optoelectronics Taiyuan University of TechnologyTaiyuan 030024China Center for Information Photonics and Communications Southwest Jiaotong UniversityChengdu 610031China Key Laboratory of Photonic Technology for Integrated Sensing and Communication Ministry of Education of ChinaGuangdong University of TechnologyGuangzhou 510006China Institute of Advanced Photonics Technology School of Information EngineeringGuangdong University of TechnologyGuangzhou 510006China Guangdong Provincial Key Laboratory of Information Photonics Technology Guangdong University of TechnologyGuangzhou 510006China

Common-signal-induced synchronization of semiconductor lasers have promising applications in physical-layer secure transmission with high speed and compatibility with the current fiber ***,we propose an ultra-long-distance laser synchronization scheme by utilizing random digital optical communication signal as the common drive *** utilizing the long-haul optical coherent communication techniques,high-fidelity fiber transmission of the digital drive can be achieved and thus ultra-long-distance synchronization is *** were implemented with distributed feedback lasers injected by a random-digital phase-modulated drive *** show that high-quality synchronization can be achieved as the drive signal rate is larger than the laser relaxation frequency and the transmission bit error ratio is below a critical *** synchronization over 8191-km fiber transmission was experimentally *** to traditional common-signal-induced synchronization using analog drive signal such as chaos,the distance is increased by 8 times,and complicated hardware devices for channel impairment compensation are no longer *** addition,the proposed method does not sacrifice communication capacity like traditional methods which need a channel to transmit analog drive *** is therefore believed that this common-digital-signal induced laser synchronization paves a way for secure backbone and submarine transmission.

关键词： communication semiconductor synchronization signal digital chaos laser demonstration experimental induced

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