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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Wang, Zixu Guo, Shuxiang Wei, Wei Graduate School of Engineering Kagawa University Takamatsu Kagawa761-0396 Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science and Technology Beijing Institute of Technology Haidian District Beijing100081 China Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Kagawa761-0396 Japan

ISBN: (纸本)9781538660720

This paper carried out series of simulations and experiments for the characteristic evaluation of a Magnetic Actuated Screw Jet Microrobot (SJM), we can get the conclusion and contribution of the best characteristic of shell outlet by this paper, and make a great progress of microrobot design by analyzing the results. The first part in this paper is some information about background and related research of the capsule microrobots, there are some problems or disadvantages of proposed microrobots also the design concept of our research will be put forward, as for the second section, it is introducing the structure design of SJM, we will show the details and give the research purpose of this paper. Then we will introduce the 3-axis Helmholtz coils, it is the power module in this research, the driving principle and propulsive force theory are also been shown in this section. Finally, the last part is about simulation setup and experiment of outlet size, combining the simulation results and experimental results, we will discuss the optimal choice of the design by the simulation in an ideal environment and the comparison of experimental results. © 2018 IEEE.

关键词： Screws

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Rotary encoder-based position transmission and feedback of a novel robotic catheter system for endovascular catheterization

Rotary encoder-based position transmission and feedback of a...

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Zhang, Linshuai Guo, Shuxiang Yu, Huadong Song, Yu Song, Dapeng Faculty of Engineering Kagawa University Takamatsu Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing100081 China Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Kagawa761-0396 Japan School of Mechatronical Engineering Changchun University of Science and Technology Changchun Jilin China

ISBN: (纸本)9781538680698

Robotic catheter systems can obviously reduce the radiation exposure to the surgeon and lessen the fatigue caused by standing for a long time in protective clothing. However, few designs have taken the ergonomic design and convenience of operation into consideration. This paper presents a robotic catheter system based on the pinion and rack mechanism with two rotary encoders. The two rotary encoders are used to transmit and feedback the motion information in the axial and radial directions, respectively. A valuable contribution is that surgeons can operate the master manipulator like operating a catheter in traditional surgery. This can make the operator have a telepresence, thus reducing the physical stress during catheter intervention. Performance evaluation of quantifying accuracy was assessed by bilateral control experiments in axial and radial motion. The results show the system has the ability to sense motion to within 1 mm and 2° in the axial and radial directions, respectively. Therefore, the presented robotic catheter system provides important insights into the development of safe and high-precision robotic catheter systems incorporating ergonomic and convenience design for endovascular catheterization. © 2018 IEEE.

关键词： Feedback

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PERK Signaling Maintains Hematopoietic Stem Cell Pool Integrity under Endoplasmic Reticulum Stress by Promoting Proliferation

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Blood 2025年

作者： Manxi Zheng Qinlu Peng Erin M Kropp Zhejuan Shen Suxuan Liu Zhengyou Yin Sho Matono Takao Iwawaki Xiang Wang Ken Inoki Yang Mei Qing Li Lu Liu Hunan Key Laboratory of Animal Models and Molecular Medicine School of Biomedical Sciences Hunan University Changsha Hunan Province 410082 China Shenzhen Research Institute of Hunan University Shenzhen 518000 China Department of Internal Medicine University of Michigan Ann Arbor Michigan USA Veterans Affairs Ann Arbor Healthcare System Medicine Service (111) Ann Arbor Michigan USA Kanazawa Medical University Uchinada Japan School of Health Science and Engineering University of Shanghai for Science and Technology Shanghai China Department of Molecular and Integrative Physiology Ann Arbor Michigan USA Life Sciences Institute Ann Arbor Michigan USA Department of Cell and Developmental Biology University of Michigan Ann Arbor Michigan USA

The integrity of the hematopoietic stem cell (HSC) pool depends on effective long-term self-renewal and the timely elimination of damaged or differentiation-prone HSCs. While the PERK branch of the unfolded protein response (UPR) has been shown to initiate pro-apoptotic signaling in response to ER stress in vitro , its role in regulating HSC fate in vivo remains incompletely understood. Here, we demonstrate that PERK is dispensable for steady-state hematopoiesis and HSC self-renewal under homeostatic conditions. However, under ER stress induced by disruption of ER-associated degradation (ERAD), via knockout of key components such as Sel1L or Hrd1, PERK becomes activated and drives HSC proliferation and depletion. Notably, deletion of PERK or expression of a kinase-dead PERK mutant significantly rescues the HSC defects caused by Sel1L or Hrd1 loss. Mechanistically, ERAD deficiency does not lead to increased HSC apoptosis or elevated reactive oxygen species (ROS), and PERK knockout has minimal impact on HSC apoptosis. Instead, PERK activation promotes aberrant mTOR signaling and HSC hyperproliferation, ultimately compromising self-renewal capacity. This PERK-driven elimination of stressed HSCs may function as a protective mechanism to maintain overall HSC pool integrity. Collectively, our findings reveal a previously unrecognized, proliferative, and apoptosis-independent role for PERK in regulating HSC fate under ER stress, highlighting a novel mechanism for preserving HSC homeostasis.

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Deep Sleep Detection Using Only Respiration

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Journal of Beijing Institute of technology 2018年第3期27卷 459-467页

作者： Yanjun Li Xiaoying Tang Zhi Xu Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information TechnologySchool of Life ScienceBeijing Institute of Technology State Key Laboratory of Space Medicine Fundamentals and Application China Astronaut Research and Training Center

Although polysomnogram(PSG)is the gold standard method for the evaluation of sleep quality,it becomes very difficult to clean the residual conductive gel in the hair after collecting brain electricity in the space weightlessness *** paper explores the feasibility of detecting deep sleep by using respiratory signal *** signals of oronasal airflow and abdomen movements were analyzed on ten healthy subjects from an open-access sleep dataset,namely *** sleep segments were detected by linear support-vector machine(LSVM)with three indices,including the amplitude variability in the time domain,the energy ratio of main respiratory band in the frequency domain,and the information entropy in the time-frequency *** Cohen's Kappa coefficients were 0.43,0.41 and0.45 by general LSVM with feature vectors derived from oronasal airflow,abdomen movements and both respiration above,***,the corresponding Cohen's Kappa coefficients were0.48,0.41 and 0.49 by individual LSVM,***-based method can achieve a moderate accuracy for the detection of deep sleep,with individual LSVM a little better than the general *** this approach,detecting deep sleep automatically is attainable by respiratory signals from unconstrained and contact-free *** can be applied to the sleep monitoring for astronauts on orbit.

关键词： sleep quality sleep scoring sleep stage classification deep sleep detection time-frequency analysis

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Hydrodynamic analysis of a novel thruster for amphibious sphere robots 15

Hydrodynamic analysis of a novel thruster for amphibious sph...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Hou, Xihuan Guo, Shuxiang Shi, Liwei Xing, Huiming Su, Shuxiang Chen, Zhan Liu, Yu Liu, Huikang Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

Four novel thrusters as the actuator of amphibious spherical robots play an important role. The resultant force of four thrusters is the main driving force of the robot. In order to achieve better control of the amphibious spherical robots, it is necessary to analyze the effects on the propelling force of the novel thruster. This paper utilize Computational Fluid Dynamics (CFD) to simulate hydrodynamic behavior of the new thruster and analyze the thrust force with different rotating velocity and inlet velocity. Further, as the inlet velocity is susceptible by the rotating velocity, we defined advanced coefficient with inlet velocity and rotating velocity. We analyze the thrust force and efficiency with different advanced coefficients. The result shows that the thrust force is more sensitive to rotating velocity of blades than the inlet velocity. The curves also show that the efficiency traces a downward parabola with the advanced coefficient. According to the simulation results, I should keep the advanced coefficient at 0.6 as our best as possible to take full use of the energy. Thus, these results provide foundation for the mathematical model building. © 2018 IEEE.

关键词： Computational fluid dynamics

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Adaptive clamping mechanism-based a novel slave manipulator for endovascular catheterization 15

Adaptive clamping mechanism-based a novel slave manipulator ...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Zhang, Linshuai Guo, Shuxiang Yu, Huadong Song, Yu Song, Dapeng Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Haidian District Beijing100081 China Faculty of Engineering Kagawa University Takamatsu Kagawa Japan Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Kagawa761-0396 Japan School of Mechatronical Engineering Changchun University of Science and Technology Changchun Jilin China

ISBN: (纸本)9781538660720

Robot-assisted catheter systems can obviously reduce the radiation exposure to the surgeon and lessen the fatigue caused by standing for long time in protective clothing. However, few designs have taken the adaptive clamping of a catheter/guidewire manipulator into consideration. Additionally, limited research has been conducted in the damage of the clamping mechanism to the catheter. This paper presents an adaptive clamping mechanism based on the electromagnetic braking for a catheter/guidewire manipulator which can be used in vascular interventional surgeries training system. A valuable contribution is that the proposed clamping structure can adaptively clamping catheters or guidewires of different diameters without replacing the corresponding clamping structure, thus reducing operation time and improving the safety of the surgery. In addition, the force measurement experiments for different clamping objects were conducted. The experimental results show that the contract force can be measured for each bending region of the vascular model without using the corresponding clamping structure. Therefore, the presented clamping structure hinge-based provides important insights into the development of safe and reliable robotic catheter manipulators incorporating effective and convenience clamping for endovascular catheterization. © 2018 IEEE.

关键词： Catheters

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Binocular camera-based a docking system for an amphibious spherical robot 15

Binocular camera-based a docking system for an amphibious sp...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Shuxiang Liu, Yu Shi, Liwei Guo, Ping Xing, Huiming Hou, Xihuan Chen, Zhan Su, Shuxiang Liu, Huikang Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology No.5Zhongguancun South Street Haidian District Beijing100081 China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

In order to fulfill the task about autonomous recovery and charging of robots, a set of robotic docking system based on binocular stereo vision was initially designed and implemented. A binocular camera was used in our docking system. Through the image captured by binocular camera of the surrounding environment, we can obtain the two kinds of image, which include color image and depth image. And in order to get accurate depth information, we conducted a binocular camera calibration experiment. Then according to the depth information, the robot recognize the docking receptacle also as a marker fixed in the pool, then using KCF (Kernelized Correlation Filters) algorithm to track the target and making robot arrive the docking destination accurately. The docking system can be implemented by the process above. During the experiment, we selected the receptacle in the image, the robot recognized target and arrived at the designated location. The experimental results demonstrated the veracity and robustness of the proposed docking system based on binocular stereo vision. © 2018 IEEE.

关键词： Stereo image processing

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Platform design for a natatores-like amphibious robot 15

Platform design for a natatores-like amphibious robot

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Liu, Huikang Shi, Liwei Guo, Shuxiang Xing, Huiming Hou, Xihuan Liu, Yu Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Faculty of Engineering Kagawa University 2217-20 Hayashi-Cho Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

With the exploration of the ocean, the conventional underwater or the terrestrial robot cannot meet the needs of the work in the littoral amphibious environment. Therefore the study of amphibious robots has great significance. This paper presents a platform design that aims at constructing a natatores-like amphibious robot. Inspired by the movement of natatores, this robot is designed to be suitable for multi-mode locomotion both on land and in water, which even can dive underwater. On the base of investigations about the natatores' swimming stroke and dynamic analysis, a novel robot prototype is constructed adopting the bionic structure and movement mode to generate force to push its body forward. The description of the robot includes mechanical design, system design, as well as ADAMS modeling. Meanwhile, multi-function motion modes will be adopted under dynamically changing environments with the sensor subsystem processing the gathered robotic and environmental information effectively. Preliminary testing partly verifies the feasibility of the amphibious robotic prototype. © 2018 IEEE.

关键词： Robots

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Embedded system-based a portable upper limb rehabilitation robot 15

Embedded system-based a portable upper limb rehabilitation r...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Gao, Baofeng Wei, Chao Guo, Shuxiang Xiao, Nan Bu, Dongdong Xu, Hao Ma, Hongdao Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa760-8521 Japan

ISBN: (纸本)9781538660720

As the third disease of death and disability in the world, stroke makes a huge difficulty to patients for activities of daily living. Traditional therapies not only is expensive but also caused a shortage of physiotherapist. Currently, the majority of multi-degree-of-freedom rehabilitation robot of upper limb are not suitable for home rehabilitation due to their heavy or bulky problems. We designed an upper limb rehabilitation robot based on embedded system. The rehabilitation robot can achieve three degrees of freedom motion including elbow flexion/extension, wrist rotation and wrist flexion/extension. And it uses a bilateral rehabilitation strategy. The mechanical structure of this rehabilitation device is a lightweight and portable exoskeleton. The sensor system uses a small gyroscope, and the part of control system uses an embedded system. It is very suitable for home rehabilitation. Finally, two experiments were carried out to test the stability and accuracy of the control system. The experimental result shows that the device is safe and reliable for rehabilitation therapy. © 2018 IEEE.

关键词： Embedded systems

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Magnetic driven wireless multiple capsule robots with different structures 15

Magnetic driven wireless multiple capsule robots with differ...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Shuxiang Yang, Qiuxia Bai, Luchang Zhao, Yan Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa760-8521 Japan

ISBN: (纸本)9781538660720

Magnetic driven microrobots, which travel in water or other aqueous mediums, have provided great potential and are urgently demanded in the biomedical field. Many advances in the self-propulsion mechanism suggest that these small robots are very suitable for using in channels. However, the spatial limitations of the internal environment and the size constraint of the millimeter robots are huge challenges in the medical applications. In this paper, a driven approach for multiple capsule robots with screw structure and propeller structure is explored. The two robots can be controlled by a rotational electromagnetic field generated by two pairs of three-axis Helmholtz coils. Mechanical model is set and hydrodynamics of multiple capsule robots is analyzed. Based on the non-overlapping driven frequencies, these robots are able to set off at different start frequencies and stop at different step-out frequencies. The verified experiments are conducted in pipe filled with water. Different movements such as docking and release are verified. The experimental results indicate that the multiple capsule robots would be a promising way to accomplish multifunctional manipulation and perform complex surgeries. © 2018 IEEE.

关键词： Screws

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