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Robotic Electrospinning Actuated by Non-Circular Joint Continuum Manipulator for Endoluminal Therapy

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Robotic Electrospinning Actuated by Non-Circular Joint Conti...

2021 IEEE International Conference on Robotics and Automation, ICRA 2021

作者： Wu, Zicong Lou, Chuqian Jin, Zhu Huang, Shaoping Liu, Ning Zou, Yun Kovac, Mirko Gao, Anzhu Yang, Guang-Zhong The Institute of Medical Robotics Department of Bioengineering Shanghai Jiao Tong University Shanghai200240 China Imperial College London Empa-Swiss Federal Laboratories for Materials Science and Technology United Kingdom Limited 999077 Hong Kong Aerial Robotics Laboratory Imperial College London LondonSW7 2AZ United Kingdom The Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University The Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China The Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781728190778

Electrospinning has exhibited excellent benefits to treat the trauma for tissue engineering due to its produced micro/nano fibrous structure. It can effectively adhere to the tissue surface for long-term continuous therapy. This paper develops a robotic electrospinning platform for endoluminal therapy. The platform consists of a continuum manipulator, the electrospinning device, and the actuation unit. The continuum manipulator has two bending sections to facilitate the steering of the tip needle for a controllable spinning direction. Non-circular joint profile is carefully designed to enable a constant length of the centreline of a continuum manipulator for stable fluid transmission inside it. Experiments are performed on a bronchus phantom, and the steering ability and bending limitation in each direction are also investigated. The endoluminal electrospinning is also fulfilled by a trajectory following and points targeting experiments. The effective adhesive area of the produced fibre is also illustrated. The proposed robotic electrospinning shows its feasibility to precisely spread more therapeutic drug to construct fibrous structure for potential endoluminal treatments. © 2021 IEEE

关键词： Electrospinning

Application of the High-Q Bouncing Ball Model Based on Fabry-Pérot Cavity for Alcohol Gas Concentration Detection

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SSRN 2023年

作者： Sang, Luxiao Wang, Teng Zhao, Biao Ding, Jinyu Jian, Aoqun Sang, Shengbo Shanxi Key Laboratory of Micro Nano Sensors & Artificial Intelligence Perception College of Electronic Information and Optical Engineering Taiyuan University of Technology Taiyuan030024 China Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan University of Technology Taiyuan030024 China Shanxi Research Institute of 6D Artificial Intelligence Biomedical Science Taiyuan030031 China

This paper presents a method to enhance the Q factor of Fabry-Pérot cavities using a vertical dielectric interface (DI) made of silicon and air, which generates a bouncing ball model. The method is applied to detect alcohol gas concentrations with high resolution. Specifically, we introduce a 450 µm-thick silicon wafer into the Fabry-Pérot (FP) cavity, where it is positioned at an angle of inclination. This addition considerably augments the light-matter interaction, effectively confining the light within the cavity. The Q factor of the FP cavity with DI is always higher than that of the open FP cavity in the inclination angle range of 0 to 1°. Moreover, the effective mode area of the FP cavity with DI is smaller. Furthermore, the FP cavity with DI reduces the effective mode area and diminishes the lateral walk-off loss experienced in the open FP cavity. Finally, we experimentally verified the effectiveness of this method by detecting alcohol gas concentrations ranging from 28.5 ppm to 142.5 ppm and achieving a Q factor improvement from 5.9×104 to 1.2×105. The system sensitivity was calculated to be 0.5294 pm/ppm, and the resolution obtained was 28.5 ppm. © 2023, The Authors. All rights reserved.

关键词： Silicon wafers

Unequal Error Protection Rateless Codes for Spatial Audio Transmission

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Unequal Error Protection Rateless Codes for Spatial Audio Tr...

International Conference on Communication Technology (ICCT)

作者： Junpeng Yin Yusun Fu Haobo Huang Jinhui Tang Ningbo Artificial Intelligence Institute Shanghai Jiao Tong University Ningbo China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China School of Electronic Information and Electrical Engineering the Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350363760

ISBN: (纸本)9798350363777

Spatial audio is an important component of the metaverse. With the rapid increase of the spatial resolution and the number of objects, the data volume of the spatial side information has grown larger. However, the low bit rate transmission of spatial side information in the object-based audio coding methods leads to the low-quality reconstruction of spatial side information with limited bandwidth. To address this issue, this paper constructs a cascade design of spatial audio coding and unequal error protection (UEP) rateless codes. Furthermore, the further protection of specific spatial side information is proposed for different scenarios, which effectively addresses the limitation of traditional spatial audio coding in side information protection. For the situation where the code length K of different importance levels is different, we propose an adaptive degree distribution (ADD), adding K to the selection probability as an influencing factor, which has better performance than other degree distribution for short code length. ADD is used to replace the multiple degree distribution strategy of the traditional unequal error protection scheme, and the block error rate (BER) is reduced nearly 10 times compared with the traditional scheme.

关键词： Codes Error analysis Metaverse Distribution strategy Spatial audio Bit rate Symbols Communications technology Protection Spatial resolution

Small-Size Zif-8/In2o3 Core-Shell Nanocomposites for Highly Specific Detection of Ppb-Level No2

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SSRN 2024年

作者： Wang, Hongtao Zhang, Yaodan Xie, Yuanchao Han, Dan Ma, Jianan Sang, Shengbo Shanxi Key Laboratory of Micro Nano Sensors & Artificial Intelligence Perception College of Electronic Information and Optical Engineering Taiyuan University of Technology Taiyuan030024 China Key Lab of Advanced Transducers and Intelligent Control System the Ministry of Education Taiyuan University of Technology Taiyuan030024 China Shanxi Research Institute of 6D Artificiat Intelligence Biomedical Science Taiyuan030024 China

The enhanced sensitivity and selectivity of nitrogen dioxide (NO2) gas sensors are paramount for atmospheric environmental monitoring. In this work, a novel small-size ZIF-8/In2O3 core-shell nanocubes gas sensor was fabricated using a straightforward solvothermal method, complemented by in situ modification. The ZIF-8 film markedly increased the specific surface area of In2O3 nanocubes from 60.64 m²/g to 140.84 m²/g. Concurrently, there was a rise in the content of adsorbed oxygen ions on the surface. The gas-sensing results demonstrated that the ZIF-8/In2O3 composites achieved a response of 56.3 to 1 ppm of NO2, with an exceptionally low detection limit of 1 ppb. Importantly, it exhibited unique selectivity for NO2 over other interfering gases. The outstanding NO2 gas-sensing performance of the ZIF-8/In2O3 composites can be attributed to the grain model effect inherent in the In2O3 (with side lengths of approximately 40-50 nm), along with the sensitization influence and filtering efficacy of ZIF-8. This advancement in gas sensor technology has significant potential for applications in the rapid detection of low-concentration NO2 gas. © 2024, The Authors. All rights reserved.

关键词： Indium compounds

A Novel Magnetoelastic Biosensor Based on Pdms/Fesib/Qds Composite Film for African Swine Fever Virus Detections

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SSRN 2024年

作者： Liu, Yuanhang Sang, Shengbo Zhao, Dong Ge, Yang Xue, Juanjuan Duan, Qianqian Guo, Xing Shanxi Key Laboratory of Micro Nano Sensors & Artificial Intelligence Perception College of Electronic Information and Optical Engineering Taiyuan University of Technology Taiyuan030024 China Key Lab of Advanced Transducers and Intelligent Control System of The Ministry of Education Taiyuan University of Technology Taiyuan030024 China Shanxi Research Institute of 6D Artificial Intelligence Biomedical Science Taiyuan030024 China

African swine fever (ASF) is a highly contagious and severe hemorrhagic disease caused by the African swine fever virus (ASFV). The continuous spread of ASFV affects the safety of global meat supply, so the establishment of sensitive and specific detection methods for ASFV has become an important hot spot in food safety. Herein, we developed a flexible magnetoelastic (ME) biosensor based on PDMS/FeSiB/QDs composite films for the detection of ASFV. Based on the high luminescence performance of CsPbBr3 quantum dots and the excellent magnetoelastic effect of FeSiB, flexible ME biosensors convert stress signals generated by antibody-antigen-specific binding into optical and electromagnetic signals. The nanostructures covalently linked by quantum dots and PDMS provide biomodification sites for ASFV antibodies, simplifying the functionalization modification process compared to conventional biosensors. The deformation of the PDMS film is amplified and conversion of surface stress signal to electrical signal is enhanced by exposing the biosensor to a uniform magnetic field. The experimental results proved that the flexible ME biosensor has wide linear range of 10 ng/mL - 100 μg/mL, and the detection limit is as low as 0.7933 ng/mL. Moreover, the flexible ME biosensor have also shown to good stability, sensitivity and specificity. © 2024, The Authors. All rights reserved.

关键词： Biosensors

Rapid Response and Recovery Performance of NO2 Gas Sensor Based on Gan Hexagonal Pits at Room Temperature

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SSRN 2022年

作者： Han, Xiaomei Han, Dan Liu, Xiaoru Chen, Yi Liu, Lulu Liu, Zhihua Li, Donghui Sang, Shengbo Shanxi Key Laboratory of Micro Nano Sensors & Artificial Intelligence Perception College of Information and Computer Taiyuan University of Technology Taiyuan030024 China Key Lab of Advanced Transducers and Intelligent Control System The Ministry of Education Taiyuan University of Technology Taiyuan030024 China Key Laboratory of Interface Science and Engineering in Advanced Materials Taiyuan University of Technology Ministry of Education Taiyuan030024 China

Although fantastic milestones of Gallium nitride (GaN)-based materials in optoelectronic devices had been reached, the focus on the optimization of their geometrical structure for gas-sensing applications was relatively scarce. In this work, we demonstrated NO2 gas sensor based on p-type GaN hexagonal pits (GaN-HP) with high surface-to-volume ratio by wet etching method. The fabricated NO2 gas sensor had high sensitivity, high selectivity, fast response/recovery times. The response of p-type GaN-HP with etching time for 10 min to 2 ppm NO2 gas was 6.2%, which also have quick response and recovery time at room temperature. UV light drastically enhanced the response of p-type GaN-HP sensor by 1.3 times to 100 ppm NO2 . The gas sensing mechanism of p-type GaN-HP gas sensor was explored, which provided a theoretical and experimental basis for further research and development of high-performance gas sensors based on GaN material. © 2022, The Authors. All rights reserved.

关键词： Gallium nitride

Brillouin Frequency Shift Extraction by Bidirectional Integration of Brillouin Gain Spectrum

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SSRN 2023年

作者： Liu, Shuangshuang Zhang, Jianzhong Ma, Zhe Liang, Zefeng Han, Jinfeng Xu, Jinglang Zhang, Mingjiang Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi Province Taiyuan University of Technology Taiyuan030024 China College of Electronic Information and Optical Engineering Taiyuan University ofTechnology Taiyuan030024 China College of Physics Taiyuan University of Technology Taiyuan030024 China Shanxi-Zheda Institute of Advanced Materials and ChemicalEngineering Taiyuan030024 China

A novel Brillouin frequency shift (BFS) extraction approach based on bidirectional integration is proposed and investigated for mitigating the fluctuations in Brillouin optical time domain reflectometer (BOTDR) system. The proposed method involves calculating the BFS through the forward and backward integrations of the original Brillouin gain spectrum (BGS) data. The findings from both simulations and experiments demonstrate that bidirectional integration achieves superior BFS accuracy compared to Lorentzian curve fitting. To further evaluate its performance, the root mean square error of BFS is measured under the different signal-to-noise ratios (SNRs) and frequency steps and the results show that bidirectional integration has higher tolerance for low SNR. Specifically, bidirectional integration achieves a BFS accuracy of 0.853 MHz under SNR of 5.22 dB and significantly reduces the measurement time by 85.86%. Additionally, the introduced coefficient k characterizes the influence on the BGS compression, with bidirectional integration exhibiting a narrower full width at half maximum of BGS (52.74 MHz) compared to Lorentzian curve fitting (67.45 MHz). © 2023, The Authors. All rights reserved.

关键词： Extraction

A Real-time Framework of Multi-Camera Vehicle Tracking system

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A Real-time Framework of Multi-Camera Vehicle Tracking Syste...

2024 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2024

作者： Zhuang, Hanyang Chen, Xingyuan Lan, Jianglin Wang, Ying Lu, Zhaoxuan Wang, Chunxiang Yang, Ming University of Michigan Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University Shanghai200240 China University of Glasgow James Watt School of Engineering GlasgowG12 8QQ United Kingdom Shanghai Jiao Tong University School of Mechanical Engineering Shanghai200040 China Shanghai Intelligent and Connected Vehicle R and D Center Co. LTD Shanghai201400 China Shanghai Jiao Tong University Department of Automation Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350372601

Multi-camera vehicle tracking (MCVT) system is a key technology to build an intelligent city and intelligent transportation system. The MCVT system utilizes roadside monitoring devices and computing platforms to achieve city-level road traffic perception at a finer scale by tracking each vehicle on the road to obtain the trajectory. The existing MCVT system mainly focuses on dealing with the algorithm modules separately, without studying the real-time performance and system architecture of the entire pipeline. However, in real-world applications, many of the tricks in improving evaluation metrics are not applicable since there is endless traffic flow running all the time. Therefore, this paper proposes a real-time framework of the MCVT system to streamline all the algorithm modules with proper data flow. Firstly, a multi-threaded multi-vehicle tracking (MVT) module is developed to detect vehicles in each camera. Re-identification is implemented during MVT to provide the feature for tracking in the same camera and across different cameras. Then, after the vehicle leaves the camera field of view, the feature of vehicle trajectory is calculated by averaging the feature at each frame. Meanwhile, a background thread runs continuously to match the incoming feature of vehicle trajectory with past features by conducting a topology searching method. In the end, the vehicle trajectories with well-matched features are considered to be the same vehicle. The entire pipeline has been validated on two different datasets, the precision is 0.64 in the CityFlow dataset which uses 6 cameras simultaneously. In the customized dataset, the same method can still reach real-time when using 16 cameras at the same time with smaller network modules. © 2024 IEEE.

关键词： Vehicle locating systems

Model-Predictive-control-based Simultaneous Trajectory Tracking and Speed control for intelligent Vehicles*

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Model-Predictive-Control-based Simultaneous Trajectory Track...

International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Hanyang Zhuang Yikai Hu Chunxiang Wang Ming Yang University of Michigan - Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University Shanghai China Guangxi Key Laboratory of Automobile Components and Vehicle Technology Guangxi University of Science and Technology Liuzhou China Shanghai Jiao Tong University Shanghai Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9781665431545

Trajectory tracking and speed control for intelligent vehicles are put forward higher requirements on accuracy by the high traffic density scenario. A standard Model Predictive control (MPC) algorithm focuses on the trajectory tracking but ignores the speed control. This paper proposes a simultaneous trajectory tracking and speed control algorithm based on MPC approach to address fine control in both space and time dimensions for intelligent vehicles. A threefold cost function including lateral and longitudinal speed as well as comfort has been proposed to improve the control algorithm. The simulations and comparisons demonstrate that the proposed method has a better tracking and speed control performance than the existing method.

关键词： Space vehicles Costs Mechatronics Trajectory tracking intelligent vehicles Velocity control Prediction algorithms