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arXiv 2025年

作者： Yao, Tianliang Lu, Bo Kowarschik, Markus Yuan, Yixuan Zhao, Hubin Ourselin, Sebastien Althoefer, Kaspar Ge, Junbo Qi, Peng Department of Control Science and Engineering College of Electronic and Information Engineering Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai200092 China Department of Electronic Engineering Faculty of Engineering The Chinese University of Hong Kong 999077 Hong Kong Robotics and Microsystems Center School of Mechanical and Electrical Engineering Soochow University Suzhou215131 China Bavaria Forchheim91301 Germany CREATe Division of Surgery & Interventional Science UCL LondonHA7 4LP United Kingdom School of Biomedical Engineering & Imaging Sciences King’s College London LondonSE1 7EH United Kingdom Centre for Advanced Robotics @ Queen Mary School of Engineering and Materials Science Queen Mary University of London LondonE1 4NS United Kingdom Department of Cardiology Zhongshan Hospital Fudan University Shanghai Institute of Cardiovascular Diseases Shanghai200032 China State Key Laboratory of Cardiovascular Diseases Medical Innovation Center Shanghai East Hospital School of Medicine Tongji University Shanghai200092 China

Endovascular procedures have revolutionized the treatment of vascular diseases thanks to minimally invasive solutions that significantly reduce patient recovery time and enhance clinical outcomes. However, the precision and dexterity required during these procedures poses considerable challenges for interventionists. Robotic systems have emerged offering transformative solutions, addressing issues such as operator fatigue, radiation exposure, and the inherent limitations of human precision. The integration of Embodied Intelligence (EI) into these systems signifies a paradigm shift, enabling robots to navigate complex vascular networks and adapt to dynamic physiological conditions. Data-driven approaches, advanced computer vision, medical image analysis, and machine learning techniques, are at the forefront of this evolution. These methods augment procedural intelligence by facilitating real-time vessel segmentation, device tracking, and anatomical landmark detection. Reinforcement learning and imitation learning further refine navigation strategies and replicate experts’ techniques. This review systematically examines the integration of EI principles into robotic technologies, in relation to endovascular procedures. We discuss recent advancements in intelligent perception and data-driven control, and their practical applications in robot-assisted endovascular procedures. By critically evaluating current limitations and emerging opportunities, this review establishes a framework for future developments, emphasizing the potential for greater autonomy and improved clinical outcomes. Emerging trends and specific areas of research, such as federated learning for medical data sharing, explainable AI for clinical decision support, and advanced human-robot collaboration paradigms, are also explored, offering insights into the future direction of this rapidly evolving field. © 2025, CC BY.

关键词： Medical robotics

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The Cervical Spine Evaluation and Rehabilitation System

The Cervical Spine Evaluation and Rehabilitation System

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IEEE International Conference on Intelligence and Safety for robotics (ISR)

作者： Zhichen Pei Tianchen Li Hangping Yu Meimei Han João Paulo Ferreira Tao Liu State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China School of Medicine Zhejiang University Hangzhou China Zhejiang Fuzhi-Kechuang Inc. Hangzhou China Coimbra Institute of Engineering - Portugal Institute of Systems and Robotics of Coimbra Portugal

The present examination methods to neck musde have high cost, low accuracy, or high examination requirements. This paper establishes a cervical spine evaluation and rehabilitation system (CERS) based on biomechanical analysis, which can help doctor estimate the situation of the patient's neck muscles by comparing various kinds of patient's data with normal range. This paper introduces the present solutions to exam neck musde, including their advantages and disadvantages, and the characteristics of neck muscle and biomechanical analysis for muscle are described. Then this paper will mainly analysis the mechanical design and result processing of CERS. The CERS will provide more convenient options for both doctors and patients.

关键词： Biomechanics Conferences Medical services Muscles Neck Safety Robots

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Encapsulation of Co/Co3o4 Hetero-Nanoparticles within the Inner Tips of N-Doped Carbon Nanotubes: engineering Mott-Schottky Nanoreactors for Efficient Bifunctional Oxygen Electrocalysis Toward Flexible Zinc-Air Batteries

SSRN

引用

SSRN 2022年

作者： Zhang, Binbin Lu, Tingyu Ren, Yiping Huang, Longzhen Pang, Huan Zhao, Qun Tian, Shu Yang, Jun Xu, Lin Tang, Yawen Tian, Xinlong School of Chemistry and Materials Science Jiangsu Key Laboratory of New Power Batteries Jiangsu Collaborative Innovation Centre of Biomedical Functional Materials Nanjing Normal University Nanjing210023 China School of Chemistry and Chemical Engineering Yangzhou University Yangzhou225009 China College of Chemistry and Chemical Engineering Nantong University Nantong226019 China Nanjing IPE Institute of Green Manufacturing Industry Nanjing211100 China State Key Laboratory of Multiphase Complex Systems Institute of Process Engineering Chinese Academy of Sciences Beijing100190 China State Key Laboratory of Marine Resource Utilization in South China Sea Hainan Provincial Key Lab of Fine Chemistry School of Chemical Engineering and Technology Hainan University Haikou570228 China

We demonstrate a typical Mott-Schottky electrocatalyst by ingeniously encasing Co/Co3O4 hetero-nanoparticles within the inner tips of N-doped carbon nanotubes (abbreviated as Co/Co3O4@N-CNTs hereafter) through a facile and scalable hydrogel-bridged pyrolysis strategy. Experimental and theoretical findings collectively manifest that the spontaneous charge redistribution at the Co/Co3O4 heterointerfaces is essential to promote the charge transfer capability, lower down the reaction barriers for oxygen electrocatalysis, and ultimately boost the intrinsic activities. Accordingly, the well-designed Co/Co3O4@N-CNTs exhibit admirable ORR and OER activities and long-term robustness in KOH medium, exceeding the commercial Pt/C and RuO2 benchmarks, respectively. Furthermore, the Co/Co3O4@N-CNTs-assembled flexible all-solid-state zinc-air battery displays a high power density, remarkable rate capability, excellent rechargeablity and outstanding mechanical flexibility even under severe deformations, predicting the great potentials in diverse next-generation wearable electronic devices. The rationale of the construction of Mott-Schottky heterojunctions may provide an innovative and instructive avenue to design diversified energy nanomaterials. © 2022, The Authors. All rights reserved.

关键词： Doping (additives)

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BPS2025 - Toward the development of a novel single-cell chromatin folding framework for the construction of 3D models of genomes from scHi-C data

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Biophysical Journal 2025年第3期124卷 575a-575a页

作者： Min Chen Pourya Delafrouz Lin Du Hammad Farooq Daniel M. Czajkowsky Zhifeng Shao Jie Liang State Key Laboratory of Systems Medicine for Cancer School of Biomedical Engineering Shanghai Jiao Tong University Shanghai China Center for Bioinformatics and Quantitative Biology University of Illinois Chicago Chicago IL USA

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Chance-Constrained Generic Energy Storage Operations under Decision-Dependent Uncertainty

arXiv

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arXiv 2022年

作者： Qi, Ning Pinson, Pierre Almassalkhi, Mads R. Cheng, Lin Zhuang, Yingrui State Key Laboratory of Control and Simulation of Power Systems and Generation Equipment Department of Electrical Engineering Tsinghua University Beijing100084 China The Dyson School of Design Engineering Imperial College London LondonSW7 2AZ United Kingdom The Department of Electrical and Biomedical Engineering University of Vermont BurlingtonVT05405 United States

Compared with large-scale physical batteries, aggregated and coordinated generic energy storage (GES) resources provide low-cost, but uncertain, flexibility for power grid operations. While GES can be characterized by different types of uncertainty, the literature mostly focuses on decision-independent uncertainties (DIUs), such as exogenous stochastic disturbances caused by weather conditions. Instead, this manuscript focuses on newly-introduced decision-dependent uncertainties (DDUs) and considers an optimal GES dispatch that accounts for uncertain available state-of-charge (SoC) bounds that are affected by incentive signals and discomfort levels. To incorporate DDUs, we present a novel chance-constrained optimization (CCO) approach for the day-ahead economic dispatch of GES units. Two tractable methods are presented to solve the proposed CCO problem with DDUs: (i) a robust reformulation for general but incomplete distributions of DDUs, and (ii) an iterative algorithm for specific and known distributions of DDUs. Furthermore, reliability indices are introduced to verify the applicability of the proposed approach with respect to the reliability of the response of GES units. Simulation-based analysis shows that the proposed methods yield conservative, but credible, GES dispatch strategies and reduced penalty cost by incorporating DDUs in the constraints and leveraging data-driven parameter identification. This results in improved availability and performance of coordinated GES units. © 2022, CC BY.

关键词： Energy storage

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Predicting extreme events from data using deep machine learning: When and where

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Physical Review Research 2022年第2期4卷 023028-023028页

作者： Junjie Jiang Zi-Gang Huang Celso Grebogi Ying-Cheng Lai The Key Laboratory of Biomedical Information Engineering of Ministry of Education Institute of Health and Rehabilitation Science School of Life Science and Technology Research Center for Brain-inspired Intelligence Xi'an Jiaotong University The Key Laboratory of Neuro-informatics & Rehabilitation Engineering of Ministry of Civil Affairs Xi'an Shaanxi 710049 China School of Electrical Computer and Energy Engineering Arizona State University Tempe Arizona 85287 USA Institute for Complex Systems and Mathematical Biology School of Natural and Computing Sciences King's College University of Aberdeen Aberdeen AB24 3UE United Kingdom Department of Physics Arizona State University Tempe Arizona 85287 USA

We develop a framework based on the deep convolutional neural network (DCNN) for model-free prediction of the occurrence of extreme events both in time (“when”) and in space (“where”) in nonlinear physical systems of spatial dimension two. The measurements or data are a set of two-dimensional snapshots or images. For a desired time horizon of prediction, a proper labeling scheme can be designated to enable successful training of the DCNN and subsequent prediction of extreme events in time. Given that an extreme event has been predicted to occur within the time horizon, a space-based labeling scheme can be applied to predict, within certain resolution, the location at which the event will occur. We use synthetic data from the two-dimensional complex Ginzburg-Landau equation and empirical wind speed data from the North Atlantic Ocean to demonstrate and validate our machine-learning-based prediction framework. The trade-offs among the prediction horizon, spatial resolution, and accuracy are illustrated, and the detrimental effect of spatially biased occurrence of extreme events on prediction accuracy is discussed. The deep learning framework is viable for predicting extreme events in the real world.

关键词： Machine learning Spatiotemporal chaos Artificial neural networks Extreme event statistics

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Bacteria Flagella-Mimicking Polymer Multilayer Magnetic Microrobots

SSRN

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SSRN 2024年

作者： Wu, Zhiguang Lu, Liang Bai, Shuang Shi, Jiaqi Zhang, Zhuotao Pan, Yunlu Wang, Wei Wu, Wenfeng Sun, Shoubin Li, Xu Hou, Gang Huang, Tianyun Jia, Yuxin Zuo, Kaiwen Granovsky, Alexander Wu, He Nikolai, Perov School of Medicine and Health Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China The First Affiliated Hospital of Harbin Medical University Harbin China National Center for Respiratory Medicine State Key Laboratory of Respiratory Health and Multimorbidity National Clinical Research Center for Respiratory Diseases Institute of Respiratory Medicine Chinese Academy of Medical Sciences Department of Pulmonary and Critical Care Medicine Center of Respiratory Medicine China-Japan Friendship Hospital Beijing China College of Science Sichuan Agricultural University Chengdu China The Fourth Affiliated Hospital of Harbin Medical University Harbin China Department of Ophthalmology The Second Hospital Jilin University Changchun China Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China Department of Mathematics Imperial College London United Kingdom Department of Computer Science University of Warwick Coventry United Kingdom Magnetism Department Faculty of Physics Lomonosov Moscow State University Moscow Russia Harbin Medical University China

Learning from natural bacteria flagellum, we demonstrate a magnetic polymer multilayer conical microrobot that bestow the controllable propulsion upon external rotating magnetic field with uniform intensity. The magnetic microrobots were constructed by template-assisted Layer-by-Layer technique technique and subsequent functionalization of magnetic particle onto the big opening of the microrobots. Geometric variables of the polymer microrobots, such as the diameter and wall thickness, can be controlled by selection of porous template and layers of assembly. The microrobots perform controllable propulsion through the manipulation of magnetic field. The comparative analysis of the movement behavior reveals that the deformation of microrobots may attributed to the propulsion upon rotating magnetic field, which is similar as that of natural bacteria. The influence of actuation frequencies and frequencies on the velocity of the microrobots is studied. Such use of polymer polymer multilayer tubular micro/nanoarchitectures results in significant savings in the processing costs and provides a simple and cost-effective fabrication route for the mass production of magnetic polymer microrobots. © 2024, The Authors. All rights reserved.

关键词： Bacteria

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Transition between radial and toroidal orders in a trimer-based magnetic metasurface

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Physical Review Applied 2023年第4期20卷 044024-044024页

作者： Vladimir R. Tuz Andrey B. Evlyukhin Volodymyr I. Fesenko State Key Laboratory of Integrated Optoelectronics College of Electronic Science and Engineering International Center of Future Science Jilin University 2699 Qianjin St. Changchun 130012 China School of Radiophysics Biomedical Electronics and Computer Systems V. N. Karazin Kharkiv National University 4 Svobody Sq. Kharkiv 61022 Ukraine Institute of Quantum Optics Leibniz Universität Hannover Hannover 30167 Germany Institute of Radio Astronomy of National Academy of Sciences of Ukraine 4 Mystetstv St. Kharkiv 61002 Ukraine

The change in the arrangement of magnetic dipole moments in a magnetic metasurface, due to the influence of an external static magnetic field, is discussed. Each meta-atom of the metasurface is composed of three identical disk-shaped resonators (trimer) made of magnetically saturated ferrite. To provide physical insight, full-wave numerical simulations of the near fields and transmission characteristics of the metasurface are complemented by the theoretical description based on the multipole decomposition method. With these methods, the study of eigenmodes and scattering conditions of a single magnetic resonator, trimer, and their array forming the metasurface is performed. It is found that the magnetic dipole-based collective hybrid mode of the trimer can be gradually transformed from the radial (pseudomonopole) to azimuthal (toroidal) order and vice versa by varying the bias magnetic field strength. This is because the magnetic dipole moment of each individual disk constituting the trimer undergoes rotation as the bias magnetic field strength changes. This transition between two orders is accompanied by various patterns of localization of the electric field inside the meta-atoms. Due to the unique field configuration of these modes, the proposed metasurface can be considered for designing magnetic field sensors and nonreciprocal devices.

关键词： Faraday effect Magnetic order Metasurfaces Mie scattering Non-reciprocal propagation Ferrites Optical microcavities Magnetic moment

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Electromagnetic scattering by arbitrary-shaped magnetic particles and multipole decomposition: Analytical and numerical approaches

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Physical Review B 2023年第15期107卷 155425-155425页

作者： Andrey B. Evlyukhin Vladimir R. Tuz Institute of Quantum Optics Leibniz University Hannover Welfengarten 1 30167 Hannover Germany Cluster of Excellence PhoenixD Leibniz University Hannover Welfengarten 1A 30167 Hannover Germany State Key Laboratory on Integrated Optoelectronics College of Electronic Science and Engineering International Center of Future Science Jilin University 2699 Qianjin Street Changchun 130012 China School of Radiophysics Biomedical Electronics and Computer Systems V. N. Karazin Kharkiv National University 4 Svobody Square Kharkiv 61022 Ukraine

We develop a theoretical approach that makes it possible to analyze the role of multipole contributions in the scattering spectra of arbitrarily shaped magnetic particles with the relative permittivity and permeability given in a general tensor-valued form. The method for calculating the exact multipole moments with the inclusion of induced electric polarization and magnetization is suggested and explicitly applied for dipole and quadrupole terms. The final expressions for the dipole and quadrupole moments are obtained in such a form that they can be easily implemented in numerical solvers. Successful verification of the analytical expressions for multipole moments and the multipole decomposition of the scattered field and scattering cross section is provided by comparing the results obtained for differently shaped magnetic particles using the analytical Mie theory, numerical discrete dipole approximation, and comsol multiphysics software. As a particular example, the manifestation of the Faraday effect for fields scattered by a ferrite sphere is discussed in the framework of the multipole decomposition method with the derived magnetization terms. Accounting for the magnetic properties of particles in the multipole analysis of the electromagnetic scattering significantly expands the method's capabilities for studying and modeling metamaterial properties in the spectral ranges where natural materials can have a relative permeability different from unity.

关键词： Field emission Light-induced magnetic effects Magneto-optics

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An Integral Sliding-Mode Parallel Control Approach for General Nonlinear systems via Piecewise Affine Linear Models

arXiv

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arXiv 2021年

作者： Zhang, Chunyang Gao, Qing Deng, Yue Qiu, Jianbin School of Automation Science and Electrical Engineering Beihang University Beijing China Zhongguancun Laboratory Beijing China School of Astraunotics Beihang University Beijing China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China

The fundamental problem of stabilizing a general non-affine continuous-time nonlinear system is investigated via piecewise affine linear models (PALMs) in this paper. A novel integral sliding-mode parallel control (ISMPC) approach is developed, where an uncertain piecewise affine system (PWA) is constructed to model a non-affine continuous-time nonlinear system equivalently on a compact region containing the origin. A piecewise sliding-mode parallel controller is designed to globally stabilize the PALM and, consequently, to semi-globally stabilize the original nonlinear system. The proposed scheme enjoys three favorable features: i) some restrictions on the system input channel are eliminated, thus the developed method is more relaxed compared with the published approaches;ii) it is convenient to be used to deal with both matched and unmatched uncertainties of the system;and (iii) the proposed piecewise parallel controller generates smooth control signals even around the boundaries between different subspaces, which makes the developed control strategy more implementable and reliable. Moreover, we provide discussions about the universality analysis of the developed control strategy for two kinds of typical nonlinear systems. Simulation results from two numerical examples further demonstrate the performance of the developed control approach. Copyright © 2021, The Authors. All rights reserved.

关键词： Nonlinear systems

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