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arXiv 2020年

作者： Gu, Guoqiang Zhang, Pengcheng Chen, Sihui Zhang, Yi Yang, Hui Laboratory of Biomedical Microsystems and Nano Devices Bionic Sensing and Intelligence Center Institute of Biomedical and Health Engineering Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China CAS Key Laboratory of Health Informatics Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

When light propagates through the edge or middle part of microparticle’s incoming interface, there is a basic rule that light converges and diverges rapidly or slowly at the output port. These two parts are referred to as region of rapid change (RRC) and region of slow change (RSC), respectively. Finding the boundary point between RRC and RSC is the key to reveal and expound this rule scientifically. Based on the correlation between light convergence-divergence and the slope of emergent light, combined with the relationship between natural logarithm and growth in physical reality and the second derivative of a function in practical significance, we determine the boundary point between RRC and RSC, namely the inflection point. From such perspective, photonic nanojet (PNJ) and near-field focusing by light irradiation on RSC and RRC, as well as the position of the inflection point under different refractive index contrast and the field distribution of light-focusing, are studied with finite-element-method-based numerical simulation and ray-optics-based theoretical analysis. By illuminating light of different field intensity ratios to the regions divided by the inflection point, we demonstrate the generation of photonic hook (PH) and the modulation of PNJ/PH in a new manner. Copyright © 2020, The Authors. All rights reserved.

关键词： Finite element method

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Trajectory Tracking Control Based on RBF Neural Network of The Lower Limb Rehabilitation robot

Trajectory Tracking Control Based on RBF Neural Network of T...

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IEEE International Conference on Mechatronics and Automation

作者： Jia Shi Linsen Xu Gaoxin Cheng Jiajun Xu Shouqi Chen Xingcan Liang University of Science and Technology of China No. 96 Jinzhai Road Hefei City Anhui Province China Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science CAS Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

The lower limb rehabilitation robot has been widely applied to the recovery of the patient's limb. For patients without autonomous movement ability, the robot will drive their limbs the planned trajectory to carry out rehabilitation training, and the accuracy of the trajectory tracking effect should be guaranteed. PID control is a conventional method for trajectory tracking. Due to the dynamic model uncertainties and lack of good adjustment ability of PID control method, this paper proposes a control method combining neural network and PID. In this study, Magnetorheological (MR) damper and motor are combined to provide actuation for the robot. The control is simulated in Simulink. By comparing the trajectory tracking errors under PID control and RBF-PID control, it is verified that the RBF-PID control has better anti-interference performance. In the process of rehabilitation robot work, the flexibility of movement and the real-time and stability of track tracking are improved.

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A human cornea-on-a-chip for the study of epithelial wound healing by extracellular vesicles

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iScience 2022年第5期25卷 104200页

作者： Yu, Zitong Hao, Rui Du, Jing Wu, Xiaoliang Chen, Xi Zhang, Yi Li, Wei Gu, Zhongze Yang, Hui Bionic Sensing and Intelligence Center Institute of Biomedical and Health Engineering Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China Center for Medical AI Institute of Biomedical and Health Engineering Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China Department of Ophthalmology Xiang'an Hospital of Xiamen University Xiamen 361102 China Fujian Provincial Key Laboratory of Ophthalmology and Visual Science Eye Institute of Xiamen University School of Medicine Xiamen University Xiamen 361102 China School of Biological Science and Medical Engineering Southeast University Nanjing 210096 China

Organs-on-chips are microfluidic devices for cell culturing to simulate tissue-level or organ-level physiology and recapitulate their microenvironment, providing new and significant solutions other than traditional animal tests. In vitro testing platforms for ocular biological studies have been increasingly used in preclinical efficacy and toxicity prediction. Here, we developed a microfluidic platform consisting of human corneal cells and porous membrane, replicating the multi-scale structural organization and biological phenotype. We verified the fully integrated human cornea's barrier effects on the chip. Moreover, we found that extracellular vesicles derived from bone marrow-derived mesenchymal stem cells can significantly accelerate the mild corneal epithelial wound healing, and the decreased expression of matrix metallopeptidase-2 protein indicated that this method effectively inhibits corneal inflammation and angiogenesis. This work improves our ability to simulate the interaction between the human cornea and the external world in vitro and contributes to the future development of new screening platforms for biopharmaceuticals. © 2022 The Authors

关键词： Bioengineering biological sciences Biotechnology cell biology tissue engineering

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Lab-in-a-Tube: A portable imaging spectrophotometer for cost-effective, high-throughput, and label-free analysis of centrifugation processes

arXiv

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arXiv 2023年

作者： Wei, Yuanyuan Hu, Dehua Bai, Bijie Meng, Chenqi Chan, Tsz Kin Zhao, Xing Wang, Yuye Ho, Yi-Ping Yuan, Wu Ho, Ho-Pui Department of Biomedical Engineering The Chinese University of Hong Kong Shatin Hong Kong Electrical and Computer Engineering Department University of California Los AngelesCA90095 United States Department of Physics The Chinese University of Hong Kong Shatin Hong Kong Department of Orthopaedics and Traumatology Li Ka Shing Institute of Health Sciences The Chinese University of Hong Kong Hong Kong Bionic Sensing and Intelligence Center Institute of Biomedical and Health Engineering Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Centre for Biomaterials The Chinese University of Hong Kong Hong Kong Hong Kong Branch of CAS Center for Excellence in Animal Evolution and Genetics Hong Kong The Ministry of Education Key Laboratory of Regeneration Medicine Hong Kong

Centrifuges serve as essential instruments in modern experimental sciences, facilitating a wide range of routine sample-processing tasks that necessitate material sedimentation. However, the study for real-time observation of the dynamical process during centrifugation has remained elusive. In this study, we developed an innovative Lab-in-a-Tube (LIAT) imaging spectrophotometer that incorporates capabilities of real-time image analysis and programmable interruption. This portable LIAT device measures 25.0 mm × 105.0 mm in size and weighs 52.8 g, fitting in common 50mL lab tubes. The cost is less than $30. Based on our knowledge, it is the first Wi-Fi camera built-in in common lab centrifuges with active closed-loop control. We tested our LIAT imaging spectrophotometer with solute-solvent interaction investigation obtained from lab centrifuges with quantitative data plotting in a real-time manner. Single re-circulating flow with a maximum fluid rotational velocity of up to 0.98 mm/s was real-time observed, forming the ring-shaped pattern during centrifugation. To the best of our knowledge, this is the very first observation of similar phenomena. Motivated by this observed phenomenon, we developed theoretical simulations for the single particle in a rotating reference frame, which correlated well with experimental results. We also demonstrated the field portability and on-site operation of our LIAT imaging spectrophotometer by performing an automated hematocrit test (Hct) of human whole blood from finger-prick volumes (20 μL). To the best of our knowledge, this marks the first demonstration to visualize the blood sedimentation process in clinical lab centrifuges. This remarkable cost-effectiveness opens up exciting opportunities for centrifugation microbiology research and paves the way for the creation of a network of computational imaging spectrometers at an affordable price for large-scale and continuous monitoring of centrifugal processes in general. Copyright © 2

关键词： Spectrophotometers

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Game Scene Construction for Lower Limb Rehabilitation robot Based on Virtual Reality

Game Scene Construction for Lower Limb Rehabilitation Robot ...

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International Conference on Electromechanical Control technology and Transportation (ICECTT)

作者： Yongfei Feng Di Jin Qianjun Shao Jianye Niu Luige Vladareanu Hongbo Wang Faculty of Mechanical Engineering & Mechanics Ningbo University Ningbo China Hebei Key Laboratory of Robot Sensing and Human-Robot Interaction Hebei University of Technology Tianjin China Robotics and Mechatronic Department Institute of Solid Mechanics of the Romanian Academy Bucharest Romania Parallel Robot and Mechatronic System Laboratory of Hebei Province and Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao China

ISBN: (数字)9781728199283

ISBN: (纸本)9781728199290

At present, the number of patients with lower extremity dysfunction is increasing year by year. However, traditional rehabilitation training cannot meet the needs of patients for rehabilitation training. Rehabilitation robot is a good solution to train patients instead of the rehabilitation physician. Based on clinical practice experience, a lower limb rehabilitation training system based on virtual reality (VR) is designed, which combined the VR technology and rehabilitation evaluation program to improve the rehabilitation efficiency of patients. According to the functional requirements of the lower limb rehabilitation robot (LLR-RO), the construction of rehabilitation robot control system and sensor system is completed. Based on the Unity3D development environment, a VR scenes of space shooting is planned and created for rehabilitation training VR technology which enables patients to complete the training process while maintaining a pleasant mood. Through the software and hardware debugging, the feasibility, data transmission capability of VR-based remote rehabilitation training system and the synchronization performance of VR scenes and rehabilitation robots are verified. In the future, more virtual reality scenes will be studied to adapt to patients of different genders and ages.

关键词： Games Training Rehabilitation robotics Space vehicles Legged locomotion Aircraft Aerospace electronics

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System Design and Experimental Analysis of an All-environment Mobile robot

System Design and Experimental Analysis of an All-environmen...

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作者： Guo, Ziyi Zhu, Yiduo Wang, Meiling Li, Tao Zhao, Hanbin Xu, Linsen Ceccarelli, Marco University of Science and Technology of China Hefei230022 China Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei230031 China Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei230031 China LARM2: Laboratory of Robot Mechatronics Dept of Industrial Engineering University of Rome Tor Vergata Via del Politecnico 1 Roma00133 Italy

Due to complexity of the structure, uncertainty of the dynamic model and poor adaptability of the environment of the traditional mobile robot, this paper proposes an all-environment mobile robot based on coaxial eight-rotor which can adapt to the three environments of water, land and air. This paper first describes the mechanical structure and hardware design of AEM (All-environment Mobile) robot, and then aerodynamics model and hydrodynamic model of the robot are formulated by Newton Euler equations. In the end, the physical prototype is assembled, and experiments are conducted to verify that the AEM robot could achieve the expected three motion modes. © 2019, Springer Nature Switzerland AG.

关键词： Mobile robots

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Back Cover, Volume 3, Number 2, April 2024

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Droplet 2024年第2期3卷

作者： Yuyang Wang Zecong Fang Sen Li Kexin Lin Zhifeng Zhang Junyi Chen Tingrui Pan Center for Intelligent Medical Equipment and Devices (iMED) Institute for Innovative Medical Devices University of Science and Technology of China Hefei China Suzhou Institute for Advanced Research University of Science and Technology of China Suzhou China Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China Hefei China Bionic Sensing and Intelligence Center (BSIC) Institute of Biomedical and Health Engineering Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China School of Engineering Hangzhou Normal University Hangzhou China School of Biomedical Engineering Division of Life Science and Medicine University of Science and Technology of China Hefei China Engineering Science and Mechanics Department Penn State University University Park Pennsylvania USA Department of Ophthalmology and Visual Science Eye and ENT Hospital Shanghai Medical College Fudan University Shanghai China NHC Key Laboratory of Myopia Chinese Academy of Medical Sciences and Shanghai Key Laboratory of Visual Impairment and Restoration (Fudan University) Shanghai China

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Design and study ofa biomimetic wall-climbing robot with spine wheels and a vacuum suction cup

Design and study ofa biomimetic wall-climbing robot with spi...

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2019 IEEE International Conference on Real-Time Computing and robotics, RCAR 2019

作者： Liu, Jinfii Xu, Linsen Chen, Shouqi Xu, Hong Cheng, Gaoxin Liu, Lei Xu, Jiajun Hefei Institutes of Physical Science CAS University of Science and Technology of China No.96 Jinzhai Road Hefei230026 China Hefei Institutes of Physical Science CAS Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province No.801 Changwu Road Changzhou213164 China University of Science and Technology of China No.96 Jinzhai ad Hefei230026 China

ISBN: (纸本)9781728137261

Wall-climbing robots can be widely applied in search and rescue, nuclear power plant maintenance, pressure pipeline inspection and so on, as a kind of special robots in extreme environment. However, the traditional single motion mode can not ensure the stable adhesion of the robot on complex wall surfaces. Inspired by the structure characteristics of flies and clingfish, a biomimetic flexible spine wheel and an eddy suction cup mechanism are proposed. Then, based on the law of mechanism configuration synthesis, a novel wall-climbing locomotion mechanism is developed by equipping these above biomimetic mechanisms. With the elastic mechanics theory of finite element, the original stiffness matrix of a single spine wheel at different stiffness is deduced. Based on the transformation mechanism of rotation matrix and the original stiffness matrix of the spine wheel, an innovative contact model is set up to analyze the forces acting on a single spine wheel. Beyond that, mechanical analysis model between suction force and load is also presented, and the simulation results show that the mechanical model is effective and reasonable in the selection of vacuum component. Finally, we fabricated the wall-climbing robot adopting the technology of 3D printing and precision machining to verify its climbing performance. Meanwhile, experiment results present the robot could climb stably on the 0-360° wall surfaces. © 2018 IEEE.

关键词： Wheels

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A novel hierarchical control strategy for biped robot walking on uneven terrain

A novel hierarchical control strategy for biped robot walkin...

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IEEE-RAS International Conference on Humanoid robots

作者： Chencheng Dong Xuechao Chen Zhangguo Yu Zelin Huang Qingqing Li Qinqin Zhou Qiang Huang School of Mechantronical Engineering Beijing Institute of Technology Beijing China Bionic robot mechanism perception and control laboratory Beijing China Beijing Advanced Innovation Center for Intelligent Robotics and Systems Beijing Institute of Technology Beijing China

ISBN: (数字)9781538676301

ISBN: (纸本)9781538676318

When position-controlled biped robot is blind walking on a uneven terrain at a high speed, huge foot contact impacts will be generated. However, traditional admitance control can't absorb the impact and stabilize the robot due to its slow response and Incompleteness. In this paper, we propose a control strategy including respectively designed swing leg control and support leg control with a new approach of control transition. For Swing leg control, double spring damping model is presented to optimize the admitance controller with faster response and better robustness, and a active foot height controller is also proposed to reduce the impact further. On the other hand, the control transition is accomplished by using a bionic fuzzy control. As a result, the foot contact impact can be reduced and the robot can blind walk fast on uneven terrain. Finally, the validity of the proposed strategy is confirmed by the simulation.

关键词： Legged locomotion Foot Trajectory Springs Adaptation models robot kinematics

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A bio-inspired wall-climbing robot with claw wheels and adhesive tracks

A bio-inspired wall-climbing robot with claw wheels and adhe...

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Liu, Jinfu Xu, Linsen Xu, Jiajun Wu, Xuan Wang, Meiling Lu, Linlin Hefei Institutes of Physical Science Chinese Academy of Sciences Institute of Advanced Manufacturing Technology Hefei China University of Science and Technology of China Hefei China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781538680698

The paper presents a bio-inspired wall-climbing robot capable of locomotion on a great variety of surfaces at speeds up to 10cm/s using claws or tracks. Inspired by the mechanism and movement characteristics of the feet on flies, a novel and innovative structure is designed and implemented. Furthermore, three mechanical models, which are statics and dynamics on rough wall surfaces as well as adhesion on smooth surface, are proposed to analyze the force or torque acting on the robot. Finally, experiments on foam, brick and glass surfaces are carried out, and the results indicate that the robot with claw wheels and adhesive tracks is able to climb steadily on various complex walls. © 2018 IEEE.

关键词： Adhesives

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