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Scattering Inversion Study for Suspended Label-Free Lymphocytes with Complex Fine Structures

biomedical engineering Frontiers 2022年第1期3卷 469-482页

作者： Lu Zhang Huijun Wang Jianyi Liu Shuang Chen He Yang Zewen Yang Zhenxi Zhang Hong Zhao Li Yuan Lifang Tian Bo Zhong Xiaolong Liu Xi’an Jiaotong University School of Mechanical EngineeringState Key Laboratory for Manufacturing Systems EngineeringXi’an 710049China Xi’an Jiaotong University Institute of Artificial Intelligence and RoboticsXi’an 710049China Xi’an Jiaotong University Key Laboratory of Biomedical Information Engineering of Ministry of EducationXi’an 710049China Xi’an Jiaotong University First Affiliated HospitalXi’an 710049China Xi’an Jiaotong University Second Affiliated HospitalXi’an 710049China Mengchao Hepatobiliary Hospital of Fujian Medical University The United Innovation of Mengchao Hepatobiliary Technology Key Laboratory of Fujian ProvinceFuzhou 350025China

Objective and Impact *** malignant lymphocytes from normal ones is vital in pathological *** proposed an inverse light scattering(ILS)method for label-free suspended lymphocytes with complex fine structures to identify their volumes for pathological *** scattering as cell’s“fingerprint”provides valuable morphology information closely related to its biophysical ***,the detail relationships between the morphology with complex fine structures and its scattering characters are not fully *** quantitatively inverse the volumes of membrane and nucleus as the main scatterers,clinical lymphocyte morphologies were modeled combining the Gaussian random sphere geometry algorithm by 750 reconstructed results after confocal scanning,which allowed the accurate simulation to solve ILS *** complex fine structures,the specificity for ILS study was firstly discussed(to our knowledge)considering the differences of not only surface roughness,posture,but also the ratio of nucleus to the cytoplasm and refractive *** volumes of membrane and nucleus were proved theoretically to have good linear relationship with the effective area and entropy of forward scattering *** specificity deviations were less than 3.5%.Then,our experimental results for microsphere and clinical leukocytes showed the Pearson product-moment correlation coefficients(PPMCC)of this linear relationship were up to 0.9830~*** scattering inversion method could be effectively applied to identify suspended label-free lymphocytes without destructive sample pretreatments and complex experimental systems.

关键词： inverse Inversion allowed

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Dynamic Identification for a Manipulator Model based on Stribeck Friction using the Quasi-Newton Iterative Method

Dynamic Identification for a Manipulator Model based on Stri...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Xiao, Feng Zhang, Feilong Han, Bing Zhang, Hualiang Shenyang University of Technology School of Information Science and Engineering Shenyang110870 China University of Chinese Academy of Sciences Beijing100049 China Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China School of Mechanical Engineering Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou310027 China

ISBN: (纸本)9798350325706

The performance of dynamic control is intimately tied to modeling accuracy. However, traditional estimation methods and friction models, such as the least squares method and the Coulomb plus viscous model, fail to reflect the actual characteristics accurately. Particularly, the linear nature of the Coulomb plus viscous model overlooks the nonlinear static features of joint friction at slower velocities. To improve the rationality of the model structure, we integrate the Stribeck friction model into the Coulomb plus viscous model. However, introducing such nonlinearities compromises the applicability of the least squares method. As a countermeasure, we propose a new strategy that combines the least square method and the Quasi-Newton iterative method to identify the parameters of the modified nonlinear model. Additionally, the design of the excitation trajectory is critical to achieve high identification accuracy. We utilized the inverse of the smallest singular value of the observation matrix as the objective function. By minimizing it with the interior point method, we generate the excitation trajectory well-suited to stimulate dynamic characteristics. Then we leverage the discrepancies between the measured and estimated torques to assess the precision of the dynamic parameters of the manipulator. Remarkably, our proposed algorithm reduces the mean absolute error of the estimated torque by over 20.40%. Finally, an experiment of the industrial manipulator by hand guiding grab and drag is performed and shows that the proposed approach can provide the manipulator with comprehensive torque compensation. © 2023 IEEE.

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Nanozymes regulated by nitrogen element:Mechanism,design,and application

Advanced Powder Materials

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Advanced Powder Materials 2024年第4期3卷 9-26页

作者： Longhua Ding Longwei Wang Jian Zhang Na Ren Aizhu Wang Hong Liu Xin Yu Institute for Advanced Interdisciplinary Research(iAIR) School of Chemistry and Chemical EngineeringUniversity of JinanJinan 250022China CAS Key Laboratory for Biomedical Effects of Nanomaterials and Nanosafety&CAS Center for Excellence in Nanoscience National Center for Nanoscience and Technology of ChinaUniversity of Chinese Academy of ScienceBeijing 100190China Division of Systems and Synthetic Biology Department of Life SciencesChalmers University of Technology41296GöoteborgSweden State Key Laboratory of Crystal Materials Shandong UniversityJinan 250100China Key Laboratory of Optic-electric Sensing and Analytical Chemistry for Life Science MOEQingdao University of Science and TechnologyQingdao 266042China

Nanozymes,a category of nanomaterials endowed with enzyme-mimicking capabilities,have exhibited considerable potential across diverse application *** comprehensive review delves into the intricacies of regulating nanozymes through N elements,elucidating the mechanisms governing N element control in the design and application of these *** initial sections introduce the foundational background and significance of *** exploration delves into the detailed discussion of N element regulation mechanisms on nanozymes,encompassing N vacancies,N doping,N coordination,and *** regulatory pathways play an instrumental role in fine-tuning the catalytic activity and specificity of *** review further scrutinizes practical applications of N element regulation on nanozymes,spanning sensing detection,infection therapy,tumor therapy,and pollutant *** conclusion,it succinctly summarizes the current research findings and proposes future directions for *** thorough investigation into the regulation of nanozymes by N elements anticipates precise control over their performance,thereby advancing the extensive utilization of nanozymes in the realms of biomedical and environmental applications.

关键词： Nnanozyme Nitrogen doping Nitrogen corrdination Infection therapy Tumor therapy

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Visual Pinwheel Centers Act as Geometric Saliency Detectors 38

Visual Pinwheel Centers Act as Geometric Saliency Detectors

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38th Conference on Neural Information Processing systems, NeurIPS 2024

作者： Zhong, Haixin Huang, Mingyi Dai, Wei P. Wang, Haoyu Roe, Anna Wang Yu, Yuguo Research Institute of Intelligent Complex Systems Fudan University China State Key Laboratory of Medical Neurobiology and MOE Frontiers Center for Brain Science Institutes of Brain Science Fudan University China Institute of Science and Technology for Brain-Inspired Intelligence Fudan University China MOE Frontier Science Center for Brain Science and Brain-machine Integration School of Brain Science and Brain Medicine Key Laboratory of Biomedical Engineering of Ministry of Education College of Biomedical Engineering and Instrument Science Zhejiang University China Shanghai Artificial Intelligence Laboratory China

During natural evolution, the primary visual cortex (V1) of lower mammals typically forms salt-and-pepper organizations, while higher mammals and primates develop pinwheel structures with distinct topological properties. Despite the general belief that V1 neurons primarily serve as edge detectors, the functional advantages of pinwheel structures over salt-and-peppers are not well recognized. To this end, we propose a two-dimensional self-evolving spiking neural network that integrates Hebbian-like plasticity and empirical morphological data. Through extensive exposure to image data, our network evolves from salt-and-peppers to pinwheel structures, with neurons becoming localized bandpass filters responsive to various orientations. This transformation is accompanied by an increase in visual field overlap. Our findings indicate that neurons in pinwheel centers (PCs) respond more effectively to complex spatial textures in natural images, exhibiting quicker responses than those in salt-and-pepper organizations. PCs act as first-order stage processors with heightened sensitivity and reduced latency to intricate contours, while adjacent iso-orientation domains serve as second-order stage processors that refine edge representations for clearer perception. This study presents the first theoretical evidence that pinwheel structures function as crucial detectors of spatial contour saliency in the visual cortex. © 2024 Neural information processing systems foundation. All rights reserved.

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A Portable and Integrated Traveling-Wave Electroosmosis Microfluidic Pumping System Driven by Triboelectric Nanogenerator

SSRN

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SSRN 2024年

作者： Zhou, Jian Tao, Ye Liu, Weiyu Sun, Tie Wu, Fangyu Shi, Changrui Ren, Yukun State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150001 China School of Electronics and Control Engineering Chang'an University Xi’an710064 China

The lab-on-a-chip system can simultaneously complete the preparation, reaction, separation, and detection of samples on a centi-scale platform by manipulating trace fluids. Traveling-wave electroosmosis (TWEO) technology, with the merit of electric signal-based flexible control over the fluid behavior, can achieve precise driving of fluids, which is an important requirement of the lab-on-a-chip system. However, the peripheral power equipment such as function generator required for TWEO limits the application in some occasions lacking power supply facilities, due to its large size and high cost. In this paper, we developed a brand-new portable and integrated TWEO microfluidic pumping system, wherein a front-end module of triboelectric nanogenerator (TENG) is in serial connection with the back-end microfluidic pumping chip, which greatly improves portability and reduces costs. The TENG can output a stable four consecutively 90°-phase-shifted alternating current voltage signals in a continuous rotational motion originated by its novel electrode structure. And the four-phase traveling potential waves are applied to four sets of electrode strips alternately distributed in the microchannel and thereby induce nonlinear electroosmotic slip on the electrode surface. Compared with traditional mechanical pumps, this system achieves stable pumping of electrolyte in the microchannel, but also realizes the almost instantaneous start, stop, and directional switching in response to a turn on, turn off, and turn in reverse of TENG, respectively. Finally, this system is integrated into a droplet microfluidic chip for the efficient fabrication of single emulsion droplets. This study presents a promising solution for the miniaturization, integration, and commercialization of lab-on-a-chip system. © 2024, The Authors. All rights reserved.

关键词： Lab-on-a-chip

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NA-CPG: A robust and stable rhythm generator for robot motion control

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Biomimetic Intelligence & robotics 2022年第4期2卷 30-38页

作者： Ru Tong Changlin Qiu Zhengxing Wu Jian Wang Min Tan Junzhi Yu State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijing 100871China

Central pattern generators(CPGs)have been widely applied in robot motion control for the spontaneous output of coherent periodic ***,the underlying CPG network exhibits good convergence performance only within a certain range of parameter spaces,and the coupling of oscillators affects the network output accuracy in complex topological ***,CPGs may diverge when parameters change drastically,and the divergence is irreversible,which is catastrophic for the control of robot ***,normalized asymmetric CPGs(NA-CPGs)that normalize the amplitude parameters of Hopf-based CPGs and add a constraint function and a frequency regulation mechanism are ***-CPGs can realize parameter decoupling,precise amplitude output,and stable and rapid convergence,as well as asymmetric output ***,it can effectively cope with large parameter changes to avoid network oscillations and *** optimize the parameters of the NA-CPG model,a reinforcement-learning-based online optimization method is further ***,a biomimetic robotic fish is illustrated to realize the whole optimization *** demonstrated that the designed NA-CPGs exhibit stable,secure,and accurate network outputs,and the proposed optimization method effectively improves the swimming speed and reduces the lateral swing of the multijoint robotic fish by 6.7%and 41.7%,*** proposed approach provides a significant improvement in CPG research and can be widely employed in the field of robot motion control.

关键词： Normalized asymmetric CPGs Rhythm generator Motion control Robotic fish

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Structural basis of INTAC-regulated transcription

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Protein & Cell 2023年第9期14卷 698-702页

作者： Hai Zheng Qianwei Jin Xinxin Wang Yilun Qi Weida Liu Yulei Ren Dan Zhao Fei Xavier Chen Jingdong Cheng Xizi Chen Yanhui Xu Fudan University Shanghai Cancer Center Institutes of Biomedical SciencesState Key Laboratory of Genetic EngineeringShanghai Key Laboratory of Radiation Oncologyand Shanghai Key Laboratory of Medical EpigeneticsShanghai Medical College of Fudan UniversityShanghai 200032China The International Co-laboratory of Medical Epigenetics and Metabolism Ministry of Science and TechnologyChinaDepartment of Systems Biology for MedicineSchool of Basic Medical SciencesShanghai Medical College of Fudan UniversityShanghai 200032China Human Phenome Institute Collaborative Innovation Center of Genetics and DevelopmentSchool of Life SciencesFudan UniversityShanghai 200433China

DearEditor,Eukaryotic transcription by RNA polymerase I(Pol I)is a strictly regulated process that involves the interplay of numerous ***-proximal pausing is a regulatory mechanism that connects transcription initiation and productive elongation in metazoans(Core and Adelman,2019).Pol II forms a paused elongation complex(PEC)through binding of two transcriptional regulation factors DSIF and NELF(Vos et al.,2018).Following the duration of pausing,Pol II either proceeds into productive elongation or undergoes promoter-proximal premature transcription termination(PTT)(Kamieniarz-Gdula and Proudfoot,2019),which plays a decisive role in determining transcriptional outputs.

关键词： termination productive elongation

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MTPA-based Haptic Feedback Controller for Master Manipulator in Minimally Invasive Surgery

MTPA-based Haptic Feedback Controller for Master Manipulator...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Zhao, Wenda Chen, Jian Hong, Yilun Liu, Hongbin School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Hong Kong Institute of Science and Innovation Chinese Academy of Sciences Centre for Artificial Intelligence and Robotics Hong Kong Hong Kong School of Biomedical Engineering and Imaging Sciences King's College London LondonSE1 7EU United Kingdom

ISBN: (纸本)9781665481090

Haptic feedback is critical for teleoperation in surgical robots, particularly in Natural Orifice Transluminal Endoscopic Surgery (NOTES). This paper introduces a haptic controller designed to enhance force generation efficiency and resolution, surpassing traditional motor control frameworks. We propose a Maximum Torque Per Ampere (MTPA)-based Field-Oriented Control (FoC) strategy for haptic kinesthetic feedback controller, optimizing the performance of a master manipulator's joint with a brushless DC (BLDC) motor under stalled and ultra-slow conditions. This approach enables a master manipulator with three degrees of freedom (DoF) for force feedback. Its effectiveness is validated through simulator and surgical trials, demonstrating improved haptic feedback in surgical applications. © 2024 IEEE.

关键词： Brushless DC motors

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Depixelation and image restoration with meta-learning in fiber-bundle-based endomicroscopy

Depixelation and image restoration with meta-learning in fib...

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作者： Yao, Bowen Huang, Boyi Li, Xiang Qi, Jinpeng Li, Yuan Shao, Yonghong Qu, Junle Gu, Yueqing Li, Jia Key Laboratory of Optoelectronic Devices and Systems Ministry of Education and Guangdong Province College of Physics and Optoelectronic Engineering Shenzhen University Shenzhen518060 China State Key Laboratory of Natural Medicines Department of Biomedical Engineering School of Engineering China Pharmaceutical University Nanjing210009 China

In order to efficiently remove honeycomb artifacts and restore images in fiber-bundlebased endomicroscopy, we develop a meta-learning algorithm in this work. Two sub-networks are used to extract different levels of features. Meta-training is employed to train the network with small amount of simulated training data, enabling the optimal model to generalize to new tasks not seen in the training set. Numerical results on both USAF target and endomicroscopy images of living mice tissues demonstrate that the algorithm can restore high contrast image without pixilated noise using shorter time. Additionally, no prior information on the shape of the underlying tissues and the distribution of fiber bundles is required, making the method applicable to a variety of fiber-bundle-based endomicroscopy imaging conditions. © 2022 Optica Publishing Group.

关键词： Learning algorithms

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Mechanical behavior and semiempirical force model of aerospace aluminum alloy milling using nano biological lubricant

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Frontiers of Mechanical engineering 2023年第1期18卷 55-69页

作者： Zhenjing DUAN Changhe LI Yanbin ZHANG Min YANG Teng GAO Xin LIU Runze LI Zafar SAID Sujan DEBNATH Shubham SHARMA School of Mechanical and Automotive Engineering Qingdao University of TechnologyQingdao 266520China School of Mechanical Engineering Dalian University of TechnologyDalian 116024China State Key Laboratory of Ultra-precision Machining Technology Department of Industrial and Systems EngineeringThe Hong Kong Polytechnic UniversityHong Kong 999077China Department of Biomedical Engineering University of Southern CaliforniaLos AngelesCA 90089-1111USA College of Engineering University of SharjahSharjah 27272United Arab Emirates Mechanical Engineering Department Curtin UniversityMiri 98009Malaysia Department of Mechanical Engineering IK Gujral Punjab Technical UniversityPunjab 144603India

Aerospace aluminum alloy is the most used structural material for rockets,aircraft,spacecraft,and space *** deterioration of surface integrity of dry machining and the insufficient heat transfer capacity of minimal quantity lubrication have become the bottleneck of lubrication and heat dissipation of aerospace aluminum ***,the excellent thermal conductivity and tribological properties of nanofluids are expected to fill this *** traditional milling force models are mainly based on empirical models and finite element simulations,which are insufficient to guide industrial *** this study,the milling force of the integral end milling cutter is deduced by force analysis of the milling cutter element and numerical *** instantaneous milling force model of the integral end milling cutter is established under the condition of dry and nanofluid minimal quantity lubrication(NMQL)based on the dual mechanism of the shear effect on the rake face of the milling cutter and the plow cutting effect on the flank surface.A single factor experiment is designed to introduce NMQL and the milling feed factor into the instantaneous milling force *** average absolute errors in the prediction of milling forces for the NMQL are 13.3%,2.3%,and 7.6%in the x-,y-,and z-direction,*** with the milling forces obtained by dry milling,those by NMQL decrease by 21.4%,17.7%,and 18.5%in the x-,y-,and z-direction,respectively.

关键词： milling force nanofluid minimum quantity lubrication aerospace aluminum alloy nano biological lubricant

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