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arXiv 2025年

作者： Zhu, Junjie Liu, Huayu Wang, Jin Wen, Bangrong Huang, Kaixiang Li, Xiaofei Zhang, Haiyun Lu, Guodong The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310058 China Zhejiang Key Laboratory of Industrial Big Data and Robot Intelligent Systems Zhejiang University Hangzhou310058 China School of Robotics Ningbo University of Technology Ningbo315211 China Robotics Research Center of Yuyao City Ningbo315400 China

From early Movement Primitive (MP) techniques to modern Vision-Language Models (VLMs), autonomous manipulation has remained a pivotal topic in robotics. As two extremes, VLM-based methods emphasize zero-shot and adaptive manipulation but struggle with fine-grained planning. In contrast, MP-based approaches excel in precise trajectory generalization but lack decision-making ability. To leverage the strengths of the two frameworks, we propose VL-MP, which integrates VLM with Kernelized Movement Primitives (KMP) via a low-distortion decision information transfer bridge, enabling fine-grained robotic manipulation under ambiguous situations. One key of VL-MP is the accurate representation of task decision parameters through semantic keypoints constraints, leading to more precise task parameter generation. Additionally, we introduce a local trajectory feature-enhanced KMP to support VL-MP, thereby achieving shape preservation for complex trajectories. Extensive experiments conducted in complex real-world environments validate the effectiveness of VL-MP for adaptive and fine-grained manipulation. Copyright © 2025, The Authors. All rights reserved.

关键词： Semantics

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Isolation of circulating tumor cells: recent progress and future perspectives

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Med-X 2024年第1期2卷 1-49页

作者： Guo, Ziheng Xia, Weiliang School of Biomedical Engineering and Med-X Research Institute Shanghai Jiao Tong University Shanghai China State Key Laboratory of Systems Medicine for Cancer Renji Hospital School of Medicine Shanghai Jiao Tong University Shanghai China

Circulating tumor cells (CTCs) are cancer cells that shed from the primary tumor and enter into body fluids of the patient, where they travel to distant sites and ultimately form metastasis. Understanding the biology of CTCs, in particular at the critical stages of their itinerary, holds promises for better cancer cure. Since the beginning of this century, liquid biopsy has steadily grown to be a keen area of research due to its non-invasive features. As one of the most promising tumor biomarkers, CTCs have shown great potential in cancer diagnosis, prognosis, treatment response monitoring, and the exploration of biological mechanisms. Although various types of isolation and detection technologies emerge constantly, the rarity and heterogeneity of CTCs still pose huge challenges for these methods and make them inefficient. In addition, the clinical practice of different technologies still lacks reasonable and uniform standards. In this review, we provide a detailed overview of the isolation and enrichment strategies of CTCs, as well as their advantages and limitations. By summarizing the current status and suggesting future areas of CTCs research, we hope to continue the concerted effort for pushing forward the clinical application of CTCs, which may represent a paradigm shift for cancer theranostics in the future. • As seeds of metastasis, circulating tumor cells have shown great potential in cancer diagnosis, prognosis, and treatment. • The rarity and heterogeneity of circulating tumor cells pose challenges for their isolation and detection technologies in clinical practice. • This review summarizes and compares biological and physical isolation methods of circulating tumor cells.

关键词： Circulating tumor cells Liquid biopsy Tumor biomarker Metastasis

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Quantitatively mapping local quality of super-resolution microscopy by rolling Fourier ring correlation

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Light(Science & Applications) 2023年第12期12卷 2826-2844页

作者： Weisong Zhao Xiaoshuai Huang Jianyu Yang Liying Qu Guohua Qiu Yue Zhao Xinwei Wang Deer Su Xumin Ding Heng Mao Yaming Jiu Ying Hu Jiubin Tan Shiqun Zhao Leiting Pan Liangyi Chen Haoyu Li Innovation Photonics and Imaging Center School of Instrumentation Science and EngineeringHarbin Institute of TechnologyHarbinChina Key Laboratory of Ultra-Precision Intelligent Instrumentation of Ministry of Industry and Information Technology Harbin Institute of TechnologyHarbinChina Biomedical Engineering Department International Cancer InstitutePeking University Cancer Hospital and InstituteHealth Science CenterPeking UniversityBeijingChina The Key Laboratory of Weak-Light Nonlinear Photonics of Education Ministry School of Physics and TEDA Institute of Applied PhysicsFrontiers Science Center for Cell ResponsesNankai UniversityTianjinChina State Key Laboratory of Membrane Biology Beijing Key Laboratory of Cardiometabolic Molecular MedicineInstitute of Molecular MedicineNational Biomedical Imaging CenterSchool of Future TechnologyPeking UniversityBeijingChina Department of Control Science and Engineering Harbin Institute of TechnologyHarbinChina School of Mathematical Sciences Peking UniversityBeijingChina Unit of Cell Biology and Imaging Study of Pathogen Host Interaction The Center for MicrobesDevelopment and HealthKey Laboratory of Molecular Virology and ImmunologyShanghai Institute of Immunity and InfectionChinese Academy of SciencesShanghaiChina School of Life Science and Technology Harbin Institute of TechnologyHarbinChina PKU-IDG/McGovern Institute for Brain Research BeijingChina Beijing Academy of Artificial Intelligence BeijingChina Frontiers Science Center for Matter Behave in Space Environment Harbin Institute of TechnologyHarbinChina Key Laboratory of Micro-Systems and Micro-Structures Manufacturing of Ministry of Education Harbin Institute of TechnologyHarbinChina

In fluorescence microscopy,computational algorithms have been developed to suppress noise,enhance contrast,and even enable super-resolution(SR).However,the local quality of the images may vary on multiple scales,and these differences can lead to *** mapping methods fail to finely estimate the local quality,challenging to associate the SR scale ***,we develop a rolling Fourier ring correlation(rFRC)method to evaluate the reconstruction uncertainties down to SR *** visually pinpoint regions with low reliability,a filtered rFRC is combined with a modified resolution-scaled error map(RSM),offering a comprehensive and concise map for further *** demonstrate their performances on various SR imaging modalities,and the resulting quantitative maps enable better SR images integrated from different ***,we expect that our framework can become a routinely used tool for biologists in assessing their image datasets in general and inspire further advances in the rapidly developing field of computational imaging.

关键词： resolution local enable

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Epithelial Cells in 2D and 3D Cultures Exhibit Large Differences in Higher-order Genomic Interactions

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Genomics, Proteomics & Bioinformatics 2022年第1期20卷 101-109页

作者： Xin Liu Qiu Sun Qi Wang Chuansheng Hu Xuecheng Chen Hua Li Daniel M.Czajkowsky Zhifeng Shao State Key Laboratory for Oncogenes and Bio-ID Center School of Biomedical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Shanghai Center for Systems Biomedicine Shanghai Jiao Tong UniversityShanghai 200240China Translational Medical Center for Stem Cell Therapy&Institute for Regenerative Medicine Shanghai East HospitalSchool of Life Science and TechnologyShanghai Key Laboratory of Signaling and Disease ResearchTongji UniversityShanghai 200092China

Recent studies have characterized the genomic structures of many eukaryotic cells,often focusing on their relation to gene ***,these studies have largely investigated cells grown in 2D cultures,although the transcriptomes of 3D-cultured cells are generally closer to their in vivo *** examine the effects of spatial constraints on chromosome conformation,we investigated the genomic architecture of mouse hepatocytes grown in 2D and 3D cultures using in situ *** results reveal significant differences in higher-order genomic interactions,notably in compartment identity and strength as well as in topologically associating domain(TAD)-TAD interactions,but only minor differences are found at the TAD *** RNA-seq analysis reveals up-regulated expression of genes involved in physiological hepatocyte functions in the 3D-cultured *** genes are associated with a subset of structural changes,suggesting that differences in genomic structure are critically important for transcriptional ***,there are also many structural differences that are not directly associated with changes in gene expression,whose cause remains to be ***,our results indicate that growth in 3D significantly alters higher-order genomic interactions,which may be consequential for a subset of genes that are important for the physiological functioning of the cell.

关键词： 3D culture In situ Hi-C Chromosome conformation Compartment TAD

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Distinct cortical connectome organization of hippocampal subfields is associated with episodic memory

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Science Bulletin 2025年第1期70卷 33-37页

作者： Debin Zeng Deyu Li Qiongling Li Yong He Shuyu Li Beijing Advanced Innovation Center for Biomedical Engineering School of Biological Science&Medical EngineeringBeihang UniversityBeijing 100083China State Key Laboratory of Cognitive Neuroscience and Learning Beijing Normal UniversityBeijing 100875China State Key Laboratory of Virtual Reaility Technology and Systems Beihang UniversityBeijing 100083China Beijing Key Laboratory of Brain Imaging and Connectomics Beijing Normal UniversityBeijing 100875China IDG/McGovern Institute for Brain Research Beijing Normal UniversityBeijing 100875China Chinese Institute for Brain Research Beijing 102206China

The hippocampus is considerably important in terms of its phylogenetic origins and participates in an extensive array of cognitive tasks and behaviors[1].The hippocampus can be partitioned into subfields based on its ... 详细信息

关键词： partitioned considerably fields

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Dynamic Blockchain-Empowered Trustworthy End-Edge Collaborative Computing via Rotating Multi-Agent DRL

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IEEE Transactions on Wireless Communications 2025年

作者： Xu, Chi Zhang, Peifeng Yu, Haibin Li, Yonghui Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China University of Chinese Academy of Sciences Beijing China University of Sydney School of Electrical and Information Engineering Sydney Australia

Blockchain-empowered end-edge collaborative computing is a promising technology for enhancing the timeliness and trustworthiness of Industrial Internet of Things (IIoT). However, integrating task offloading with blockchain consensus inevitably escalates resource consumption across communication, computation, and energy domains. Thus, the joint optimization of task offloading, resource allocation and blockchain consensus is very important for IIoT. This paper studies a general end-edge collaborative computing scenario with multiple end devices and multiple edge servers. We first propose a novel dynamic blockchain (DBC) scheme by developing a dynamic leader election mechanism and designing a dynamic consensus waiting time window. Then, by fully considering the constraints of multi-task size and deadline, communication bandwidth, computing frequency, battery capacity, Byzantine fault tolerant and trustworthiness, we formulate the trustworthy processing efficiency (TPE) maximization problem with respect to end-edge task division, communication and computation resource allocation, leader election and consensus waiting window. To address this problem, we transform it into a Markov decision process and design a compound reward by fully considering the penalty for computing timeout and consensus failure. After that, we propose a rotating multi-agent deep reinforcement learning (R-MADRL) algorithm tailored to the proposed DBC scheme, where an entropy-based dual-critic DRL algorithm is proposed for rotating multi-agent training and decentralized execution. Extensive experiments validate the effectiveness and superiority of the proposed DBC with R-MADRL, where three benchmark DRL algorithms and three blockchain consensus schemes are compared. The results demonstrate that R-MADRL achieves stable convergence with more than 60.32% TPE reward than other algorithms while the task timeout ratio of DBC is reduced by more than 66.49% compared with other schemes. © 2025 Institute of El

关键词： Markov processes

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Reinforcement Learning for Dynamic Task Execution: A Robotic Arm for Playing Table Tennis

Reinforcement Learning for Dynamic Task Execution: A Robotic...

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IEEE International Conference on robotics and Biomimetics

作者： Zida Zhao Haodong Huang Shilong Sun Jing Jin Wenjie Lu School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Harbin Institute of Technology Shenzhen State Key Laboratory of Robotics and Systems (HIT) Suzhou Research Institute of HIT

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Dynamic tasks like table tennis pose a significant challenge for robots, although relatively easy for humans to learn. These tasks require precise control of rapid movements and timing in situations where the estimation of the flying ball and the robot's state is imprecise. Traditional model-based control methods struggle to accurately model and adapt to these dynamic changes, leading to difficulties and challenges in practical applications. To address this issue, a table tennis hitting method for a robotic arm based on reinforcement learning (RL) is proposed in this paper. Firstly, a simulation model of a robotic arm with eight degrees of freedom for playing table tennis was constructed. Secondly, a simple and effective reward function was designed to accomplish the task of hitting the table tennis ball with the robotic arm. Finally, two sets of experiments involving single and random ball launches were designed. Experimental results demonstrate that the proposed method enables the robotic arm to accurately hit the table tennis ball, showcasing the potential of RL in dynamic tasks.

关键词： Adaptation models Sports equipment Filtering Estimation Reinforcement learning Manipulators Robustness Timing PD control Sports

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Decentralized Reinforcement Learning for Multiple Robotic Fish in Cooperative Pursuit Task

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IEEE Transactions on Cognitive and Developmental systems 2025年

作者： Feng, Yukai Wu, Zhengxing Wang, Jian Li, Sijie Huang, Yupei Yu, Junzhi Tan, Min Institute of Automation Chinese Academy of Sciences Key Laboratory of Cognition and Decision Intelligence for Complex Systems Beijing100190 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100049 China College of Engineering Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics Beijing100871 China

The control of multi-robot systems, particularly in the pursuit-evasion (PE) with multiple robots, has gained significant attention in both academic and non-academic settings. However, the collaborative operation of multi-robotic fish systems encounters substantial challenges due to the complex underwater environment and unique movement mode. In this paper, we propose a multi-agent reinforcement learning (MARL) approach to develop a viable strategy for underwater cooperative pursuit. Initially, considering the hydrodynamic model and motion characteristics of robotic fish, we construct a specific simulation environment with multiple fish-like agents, which provides a highly realistic state transition model. Next, we develop a MARL-based strategy learning framework that incorporates appropriate reward functions and agent actions for policy learning. Finally, a series of comprehensive simulations and practical experiments are conducted to validate the effectiveness of the proposed method and confirm its successful application in underwater pursuit scenarios. These findings offer valuable insights for further research in underwater multiple robot systems. © 2016 IEEE.

关键词： Chatbots

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Multi-Objective Optimization of Electromagneticthermal Coupling Performance for High-torquedensity PMSM based on Multi-dimensional Correction Techniques

Multi-Objective Optimization of Electromagneticthermal Coupl...

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International Conference on Electrical Machines, ICEM

作者： Zequan Li Jin Wang Lu Sun Haoyu Kang Liyang Liu Libing Zhou State Key Laboratory of Advanced Electromagnetic Technology Huazhong University of Science and Technology Wuhan China State Key Laboratory of Advanced Electromagnetic Engineering and Technology School of Electrical and Electronic Engineering Huazhong University of Science and Technology Wuhan China State Key Laboratory of Advanced Robotics and Autonomous Systems Thrust The Hong Kong University of Science and Technology (Guangzhou) Guangzhou China Robotics and Autonomous Systems Thrust Hong Kong University of Science and Technology (Guangzhou) Guangzhou China

ISBN: (数字)9798350370607

ISBN: (纸本)9798350370614

To address the precision limitation of traditional thermal models and the computational inefficiency of electromagnetic-thermal coupling finite element models, this work proposes a multidimensional correction-based electromagnetic-thermal coupling design optimization method for electric machines. Firstly, this method corrects the sensitive parameters in the analytical lumped parameters thermal network model (LPNM) based on prior information from historical experimental data to ensure the accuracy for thermal performance analysis. Subsequently, to enhance computational efficiency, a large number of low-fidelity (LF) samples are obtained using the corrected thermal model in a serial electromagnetic-thermal field calculation manner, complemented by a small number of high-fidelity (HF) samples obtained from the electromagnetic-thermal coupling simulation model. Then, by employing a transfer learning technique, the data information from the low- to high-fidelity sample sets is comprehensively utilized to train a multi-fidelity (MF) surrogate model for the final optimization. The proposed method applied to a high-torque-density aerospace propulsion permanent magnet synchronous motor (PMSM) with short-term strong overload capability, it not only significantly improves the accuracy of LPNM, but also reduces the training sample acquisition time by over 50% under the same model accuracy. Finally, a prototype is tested to validate the effectiveness of the proposed method.

关键词： Couplings Accuracy Computational modeling Transfer learning Data models Thermal analysis Computational efficiency Iterative methods Optimization Design optimization

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Enhanced sensing telemetry using reconstruction of divergent exceptional points with cross-coupling

Enhanced sensing telemetry using reconstruction of divergent...

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IEEE International Wireless Symposium (IWS)

作者： Baolong Jian Zhilu Ye Minye Yang Ming Liu Key Laboratory of the Ministry of Education Engineering Research Center of Spin Quantum Sensor Chips State Key Laboratory for Manufacturing Systems Engineering Electronic Materials Research Laboratory Universities of Shaanxi Province School of Electronic Science and Engineering Xi’an Jiaotong University Xi’an China International Joint Laboratory for Micro/Nano Manufacturing and Measurement Technology Xi'an Key Laboratory for Biomedical Testing and High-end Equipment State Key Laboratory for Manufacturing Systems Engineering The Key Laboratory of Biomedical Information Engineering of Ministry of Education Center for Mitochondrial Biology and Medicine School of Life Science and Technology Xi'an Jiaotong University Xi'an P.R. China

ISBN: (数字)9798350389999

ISBN: (纸本)9798350390001

We herein introduce a new wireless sensing telemetry with enhanced sensitivity by leveraging the reconstruction of divergent exceptional point (DEP) in a cross-coupled third-order parity-time (PT)-symmetric electronic system. We confirm that with the presence of cross-coupling between the gain and loss components, which was ignored in the previous work, the phenomenon of DEP can still exist. In addition, we theoretically provide the design strategy for building such a system and explicit guidance for reconstructing the DEP. We also demonstrate that such a reconstruction procedure of the cross-coupled DEP can indeed be utilized as the sensing mechanism having unprecedented sensitivity. This work may provide a comprehensive understanding of the DEP benefits of the practical implementation of DEP sensors.

关键词： Wireless communication Wireless sensor networks Sensitivity Buildings Sensors Telemetry Electromagnetics Oscillators Next generation networking

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