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CRISPR-powered optothermal nanotweezers:Diverse bio-nanoparticle manipulation and single nucleotide identification

Light(Science & Applications) 2023年第12期12卷 2644-2654页

作者： Jiajie Chen Zhi Chen Changle Meng Jianxing Zhou Yuhang Peng Xiaoqi Dai Jingfeng Li Yili Zhong Xiaolin Chen Wu Yuan Ho-Pui Ho Bruce Zhi Gao Junle Qu Xueji Zhang Han Zhang Yonghong Shao State Key Laboratory of Radio Frequency Heterogeneous Integration Key Laboratory of Optoelectronic Devices and Systems of Ministry of Education and Guangdong ProvinceCollege of Physics and Optoelectronics EngineeringShenzhen UniversityShenzhen 518060China Department of Biomedical Engineering The Chinese University of Hong KongShatinHong KongChina Department of Bioengineering and COMSET Clemson UniversityClemsonSC 29634USA School of Biomedical Engineering Shenzhen UniversityShenzhenGuangdong 518060China

Optothermal nanotweezers have emerged as an innovative optical manipulation technique in the past decade,which revolutionized classical optical manipulation by efficiently capturing a broader range of ***,the optothermal temperature field was merely employed for in-situ manipulation of nanoparticles,its potential for identifying bio-nanoparticles remains largely ***,based on the synergistic effect of optothermal manipulation and CRIPSR-based bio-detection,we developed CRISPR-powered optothermal nanotweezers(CRONT).Specifically,by harnessing diffusiophoresis and thermo-osmotic flows near the substrate upon optothermal excitation,we successfully trapped and enriched DNA functionalized gold nanoparticles,CRISPR-associated proteins,as well as DNA ***,we built an optothermal scheme for enhancing CRISPR-based single-nucleotide polymorphism(SNP)detection at single molecule level,while also introducing a novel CRISPR methodology for observing nucleotide ***,this innovative approach has endowed optical tweezers with DNA identification ability in aqueous solution which was unattainable *** its high specificity and feasibility for in-situ bio-nanoparticle manipulation and identification,CRONT will become a universal tool in point-of-care diagnosis,biophotonics,and bio-nanotechnology.

关键词： manipulation thermal identification

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Tailoring d-band center over electron traversing effect of Ni M@C-CoP(M=Zn,Mo,Ni,Co)for high-performance electrocatalysis hydrogen evolution

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Journal of Materials Science & Technology 2023年第35期166卷 164-172页

作者： Hao Luo Xudong Zhang Hui Zhu Kexin Zhang Fan Yang Kewei Xu Sen Yu Dagang Guo State Key Laboratory for Mechanical Behavior of Materials School of Materials Science and EngineeringXi’an Jiaotong UniversityXi’an710049China Center for High Performance Computing Network Information CenterXi’an Jiaotong UniversityXi’an710049China State Key Laboratory for Manufacturing Systems Engineering Xi’an Jiaotong UniversityXi’an710049China Shaanxi Key Laboratory of Biomedical Metal Materials Northwest Institute for Non-ferrous Metal ResearchXi’an710016China

Attaining a highly efficient and inexpensive electrocatalyst is significant for the hydrogen evolution reaction(HER)but still challenging *** transition-metal phosphides(TMPs)catalysts with platinum-like electronic structures are a potential candidate for the HER,but those are prone to be strongly bound with hydrogen intermediates(H∗),resulting in sluggish HER *** we report a unique hybrid structure of CoP anchored on graphene nanoscrolls@carbon nano tubes(CNTs)scaffold(Ni M@C-CoP)encapsulating various Ni M(M=Zn,Mo,Ni,Co)bimetal nanoalloy via chemical vapor deposi-tion(CVD)growth of CNT on graphene nanoscrolls followed by the impregnation of cobalt precursors and phosphorization for efficiently electrocatalytic hydrogen *** nanoparticles mainly scattered at the tip of CNT branches which exhibited the analogical“Three-layer core-shell”*** and density functional theory(DFT)calculations consistently disclose that the encapsulated various NiMs can offer different numbers of electrons to weaken the interactions of outmost CoP with H∗and push the downshift of the d-band center to different degrees as well as stabilize the outmost CoP nanopar-ticles to gain catalytic stability via the electron traversing *** electrocatalytic HER activity can be maximumly enhanced with low overpotentials of 78 mV(alkaline)and 89 mV(acidic)at a current density of 10 mA/cm^(2) and sustained at least 24 h especially for NiZn@C-CoP *** novel system is distinct from conventional three-layer heterostructure,providing a specially thought of d-band center control engineering strategy for the design of heterogeneous catalysts and expanding to other electrocat-alysts,energy storage,sensing,and other applications.

关键词： Electron traversing effect 3D graphene/CNT CoP nanoparticle d-band center Hydrogen evolution

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Adaptive Robust Control Integrated With Gaussian Processes for Quadrotors: Enhanced Accuracy, Fault Tolerance and Anti-Disturbance

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IEEE Transactions on systems, Man, and Cybernetics: systems 2025年第5期55卷 3235-3248页

作者： Liang, Weisheng Amer, Abdelhakim Mehndiratta, Mohit Chen, Zheng Yao, Bin Kayacan, Erdal Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou310027 China Aarhus University Artificial Intelligence in Robotics Laboratory Department of Electrical and Computer Engineering Aarhus8000 Denmark GIM Robotics Espoo02650 Finland Zhejiang University Ocean College Ocean Research Center of Zhoushan Zhoushan316021 China Purdue University School of Mechanical Engineering West Lafayette47907 United States Department of Electrical Engineering and Information Technology Paderborn33098 Germany

With increasingly challenging applications for quadrotors, higher requirements are emerging for tracking accuracy and safety. While high accuracy is a prerequisite for complex tasks, safety is ensured through tolerance to actuator faults and resistance to external disturbances. In this article, adaptive robust control (ARC) integrated with Gaussian processes (GPs), i.e., ARC-GP, is proposed to achieve enhanced accuracy, fault tolerance, and anti-disturbance. These three requirements are interrelated and affected by uncertainties. The primary idea of this article is to categorize uncertainties into parametric and nonparametric types, which are then addressed through parameter adaptation and GP, respectively. First, a detailed dynamic model is established, including actuator models that reflect different types of faults corresponding to changes in different physical parameters. Then, parameter adaptation is designed, with direct and indirect methods adopted for different parameters. In particular, the actuator parameters are effectively estimated to achieve targeted fault compensation. Regarding GP for nonparametric uncertainties, its model parameters are also updated via parameter adaptation. The GP thereby also learns parameter estimation errors along with external disturbances. Accordingly, ARC controllers are designed, for which robust feedback terms are constructed to further mitigate uncertainties on the basis of the covariances predicted by GP. The experiments demonstrate that the proposed ARC-GP can actively tolerate various types of actuator faults and better resist wind disturbances. © 2013 IEEE.

关键词： Robust control

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Lattice thermal conductivity switching via structural phase transition in ferromagnetic VI_(3)

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Chinese Physics B 2023年第5期32卷 20-26页

作者：吴超刘晨晗 Laboratory of Solid State Microstructures Nanjing UniversityNanjing 210093China Micro-and Nano-scale Thermal Measurement and Thermal Management Laboratory School of Energy and Mechanical EngineeringNanjing Normal UniversityNanjing 210023China Jiangsu Key Laboratory for Numerical Simulation of Large-Scale Complex Systems Nanjing Normal UniversityNanjing 210023China Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments School of Mechanical EngineeringSoutheast UniversityNanjing 211100China

The realization of reversible thermal conductivity through ferromagnetic ordering can improve the heat management and energy efficiency in magnetic materials-based ***_(3),as a new layered ferromagnetic semiconductor,exhibits a structural phase transition from monoclinic(C2/m)to rhombohedral(R3^(-))phase as temperature decreases,making it a suitable platform to investigate thermal switching in magnetic phase transition *** work reveals that the thermal switching ratio of VI_(3)can reach 3.9 along the *** properties analysis indicates that the C2/m structure is stiffer than the R^(-)one,causing the larger phonon velocity in C2/m ***,due to the fewer phonon branches in C2/m phase,the number of phonon–phonon scattering channels in C2/m phase is smaller compared to that of R^(-)*** the larger phonon velocity and the longer phonon lifetime lead to larger lattice thermal conductivity in C2/m *** study uncovers the mechanical and thermal properties of VI_(3),which provides useful guides for designing magnetic materials-based devices such as thermal switch.

关键词： thermal switching ferromagnetic ordering phonons

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Effects of phonon bandgap on phonon-phonon scattering in ultrahigh thermal conductivityθ-phase TaN

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Chinese Physics B 2023年第4期32卷 543-548页

Phonon bandgap typically has a significant effect on phonon-phonon scattering *** this work,the effects of mass modified phonon bandgap inθ-phase Ta N are systemically investigated by the means of first-principles calculations with linearized Boltzmann transport *** detailed calculations,we find that phonon bandgap has a significant effect on three-phonon process while exhibits a much weaker effect on four-phonon *** reason for the ultrahigh thermal conductivity ofθ-phase Ta N is the long lifetime of phonons including both three-phonon and four-phonon processes,which originates from the weak phonon anharmonicity and large phonon bandgap-induced small phonon-phonon scattering phase *** work advances the understanding of phonon bandgap effects on phonon transport.

关键词： ultrahigh thermal conductivity phonon-phonon scattering phase space first-principles calculation phonon bandgap

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Movable surface acoustic wave tweezers: a versatile toolbox for micromanipulation

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Microsystems & Nanoengineering 2024年第5期10卷 367-380页

作者： Xianming Qin Xianglian Liu Shuo Liu Chuanyu Zhang Ningning Bai Xue Li Weidong Wang Dan Liu Qiqi Yang Ruiguo Yang Yajing Shen Xueyong Wei School of Mechano-Electronic Engineering Xidian UniversityXi'an 710071China State Key Laboratory for Manufacturing Systems Engineering Xi'an Jiaotong UniversityXi'an 710049China State Key Laboratory of Electromechanical Integrated Manufacturing of High-Performance Electronic Equipment Xidian UniversityXian 710071China State Key Laboratory of Holistic Integrative Management of Gastrointestinal Cancers and National Clinical Research Center for Digestive Diseases Xijing Hospital of Digestive DiseasesFourth Military Medical UniversityXi'an 710032China Department of Biomedical Engineering and Institute for Quantitative Health Science and Engineering(IQ)Michigan State UniversityEast LansingMI 48824USA Department of Electronic and Computer Engineering The Hong Kong University of Science and TechnologyClear Water BayKowloonHong KongChina

Surface acoustic wave(SAW)tweezers are a promising multifunctional micromanipulation method that controls microscale targets via patterned acoustic *** to their device structure and bonding process,most SAW tweezers have limitations in terms of controlling the position and motion of the acoustic traps,as they generate an acoustic field with a fixed region and adjust the manipulation effects via signal *** address this challenge,we propose movable SAW tweezers with a multilayer structure,achieving dynamic control of their wave field and acoustic trap positions;we demonstrate their precise manipulation functions,such as translation,in-plane rotation,out-of-plane rotation,and cluster formation,on a wide spectrum of samples,including particles,bubbles,droplets,cells,and *** method not only improves the degree of freedom and working range of SAW tweezers but also allows for precise and selective manipulation of microtargets via microtools and localized *** to their flexibility,versatility,and biocompatibility,the movable SAW tweezers can be a practical platform for achieving arbitrary manipulation of microscale targets and have the potential to play significant roles in biomedical microrobotics.

关键词： wave precise rotation

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Advanced tools and methods for single-cell surgery

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Microsystems & Nanoengineering 2022年第2期8卷 1-21页

作者： Adnan Shakoor Wendi Gao Libo Zhao Zhuangde Jiang Dong Sun Department of Biomedical Engineering City University of Hong KongHong KongChina State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesThe School of Mechanical EngineeringXi'an Jiaotong UniversityXi'anChina

Highly precise micromanipulation tools that can manipulate and interrogate cell organelles and components must be developed to support the rapid development of new cell-based medical therapies,thereby facilitating in-depth understanding of cell dynamics,cell component functions,and disease *** paper presents a literature review on micro/nanomanipulation tools and their control methods for single-cell *** methods specifically based on laser,microneedle,and untethered micro/nanotools are presented in *** limitations of these techniques are also *** biological significance and clinical applications of single-cell surgery are also addressed in this paper.

关键词： manipulation surgery needle

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Augmented Reality Based Navigation System for Endoscopic Transnasal Optic Canal Decompression

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 34-42页

作者： FU Hang XU Jiangchang LI Yinwei ZHOU Huifang CHEN Xiaojun Institute of Biomedical Manufacturing and Life Quality Engineering State Key Laboratory System and VibrationSchool of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Department of Ophthalmology Shanghai Ninth People's HospitalShanghai Jiao Tong University School of MedicineShanghai 200011China Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghai 200240China Shanghai Key Laboratory of Orbital Diseases and Ocular Oncology Shanghai 200011China

Endoscopic transnasal optic nerve decompression surgery plays a crucial role in minimal invasive treatment of complex traumatic optic ***,a major challenge faced during the procedure is the inability to visualize the optic nerve *** address this issue,an endoscopic image-based augmented reality surgical navigation system is developed in this *** system aims to virtually fuse the optic nerve onto the endoscopic images,assisting surgeons in determining the optic nerve’s position and reducing surgical ***,a calibration algorithm based on a checkerboard grid of immobile points is proposed,building upon existing calibration ***,to tackle accuracy issues associated with augmented reality technology,an optical navigation and visual fusion compensation algorithm is proposed to improve the intraoperative tracking *** evaluate the system’s performance,model experiments were meticulously designed and *** results confirm the accuracy and stability of the proposed system,with an average tracking error of(0.99±0.46)*** outcome demonstrates the effectiveness of the proposed algorithm in improving the augmented reality surgical navigation system’s ***,the system successfully displays hidden optic nerves and other deep tissues,thus showcasing the promising potential for future applications in orbital and maxillofacial surgery.

关键词： optic nerve decompression endoscopy augmented reality surgical navigation

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Estimation and Prediction of CoM With Terrain Feature Embedding During Walking

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IEEE Transactions on Automation Science and engineering 2025年 22卷 16108-16120页

作者： Haolan Xian Jingfeng Xiong Yuanwen Zhang Xinxing Chen Chenglong Fu Yuquan Leng Key Laboratory of Biomimetic Robotics and Intelligent Systems Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China School of Biomedical Engineering and the State Key Laboratory of Robotics and Systems Harbin Institute of Technology (Shenzhen) Shenzhen China Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China

Wearable devices are currently being used to reduce metabolism and assist people with disabilities for daily walking. For the elderly and disabled people, improving the walking stability of wearable devices is a crucial and unsolved research. In particular, the center of mass (CoM) trajectory can reflect the walking state as well as the stability of a person. For this reason, realizing the prediction of CoM trajectory under daily walking is promising to improve the wearable devices. In this article, a method for estimation and prediction of CoM during daily walking was proposed. A visual-inertial-odometry algorithm was used to obtain history CoM trajectories during walking, and the depth information from camera data was extracted by sequential distance embedding method and encode the information into terrain vectors. The trajectory vectors were patched with the corresponding terrain vectors and then realized the fusion of multi-modal data, which were then fed into a well-trained temporal convolution network to output the prediction results. With data from two outdoor datasets, the method in this paper was verified to be able to be used for CoM trajectory prediction for a variety of walking tasks and consume low computational cost. This method has the potential to be extensible in improving the stability of wearable devices, such as exoskeleton, powered prosthetic, and so on. Note to Practitioners—It is necessary to obtain the future state of human center of mass (CoM) to improve the stability of user with wearable devices. However, current methods for CoM trajectory prediction, especially with multi-modal data fusion are difficult to apply to this prediction task due to the high computational cost. This article addressed the problem of estimation and prediction of CoM under daily walking conditions and proposed a method to solve the above problems, which enable to deploy on wearable robots with limited computation resources. In our study, a visual-inertial-odometry

关键词： Trajectory Legged locomotion History Cameras Vectors Wearable devices Feature extraction Estimation Wearable robots Sensors

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A bionic approach for the mechanical and electrical decoupling of an MEMS capacitive sensor in ultralow force measurement

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Frontiers of Mechanical engineering 2023年第2期18卷 297-317页

作者： Wendi GAO Bian TIAN Cunlang LIU Yingbiao MI Chen JIA Libo ZHAO Tao LIU Nan ZHU Ping YANG Qijing LIN Zhuangde JIANG Dong SUN State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesOverseas Expertise Introduction Center for Micro/Nano Manufacturing and Nano Measurement Technologies Discipline InnovationXi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and SystemSchool of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049China Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing Yantai 265599China State Key Laboratory of Robotics and Systems(HIT) Harbin 150006China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Department of Biomedical Engineering City University of Hong KongHong KongChina

Capacitive sensors are efficient tools for biophysical force measurement,which is essential for the exploration of cellular ***,attention has been rarely given on the influences of external mechanical and internal electrical interferences on capacitive *** this work,a bionic swallow structure design norm was developed for mechanical decoupling,and the influences of structural parameters on mechanical behavior were fully analyzed and optimized.A bionic feather comb distribution strategy and a portable readout circuit were proposed for eliminating electrostatic *** instability was evaluated,and electrostatic decoupling performance was verified on the basis of a novel measurement method utilizing four complementary comb arrays and applicationspecific integrated circuit *** electrostatic pulling experiment showed that the bionic swallow structure hardly moved by 0.770 nm,and the measurement error was less than 0.009% for the area-variant sensor and 1.118% for the gap-variant sensor,which can be easily compensated in *** proposed sensor also exhibited high resistance against electrostatic rotation,and the resulting measurement error dropped below 0.751%.The rotation interferences were less than 0.330 nm and(1.829×10^(-7))°,which were 35 times smaller than those of the traditional differential *** on the proposed bionic decoupling method,the fabricated sensor exhibited overwhelming capacitive sensitivity values of 7.078 and 1.473 pF/μm for gap-variant and area-variant devices,respectively,which were the highest among the current *** immunity to mechanical disturbances was maintained simultaneously,i.e.,less than 0.369% and 0.058% of the sensor outputs for the gap-variant and area-variant devices,respectively,indicating its great performance improvements over existing devices and feasibility in ultralow biomedical force measurement.

关键词： micro-electro-mechanical system capacitive sensor bionics operation instability mechanical and electrical decoupling biomedical force measurement

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