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An Automatic Implementation of Oropharyngeal Swab Sampling for Diagnosing Respiratory Infectious Diseases via Soft Robotic End-Effectors

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Chinese Journal of Mechanical Engineering 2024年第2期37卷 55-67页

作者： Yafeng Cui Wenjie Yu Jingjing Li Qi Shao Ding Weng Guoping Yin Xiaohao Zhang Xinjun Liu Jingying Ye jiadao wang Huichan Zhao Department of Mechanical Engineering Tsinghua UniversityBeijing 100084China Beijing Huakang Tongbang Technology Company Beijing 102609China Department of Otorhinolaryngology Beijing Tsinghua Changgung HospitalSchool of Clinical MedicineTsinghua UniversityBeijing 102218China Tianjin Research Institute for Advanced Equipment Tsinghua UniversityTianjin 300300China

The most widely adopted method for diagnosing respiratory infectious diseases is to conduct polymerase chain reaction(PCR)assays on patients’respiratory specimens,which are collected through either nasal or oropharyngeal swabs.The manual swab sampling process poses a high risk to the examiner and may cause false-negative results owing to improper sampling.In this paper,we propose a pneumatically actuated soft end-effector specifically designed to achieve all of the tasks involved in swab sampling.The soft end-effector utilizes circumferential instability to ensure grasping stability,and exhibits several key properties,including high load-to-weight ratio,error tolerance,and variable swab-tip stiffness,leading to successful automatic robotic oropharyngeal swab sampling,from loosening and tightening the transport medium tube cap,holding the swab,and conducting sampling,to snapping off the swab tail and sterilizing itself.Using an industrial collaborative robotic arm,we integrated the soft end-effector,force sensor,camera,lights,and remote-control stick,and developed a robotic oropharyngeal swab sampling system.Using this swab sampling system,we conducted oropharyngeal swab-sampling tests on 20 volunteers.Our Digital PCR assay results(RNase P RNA gene absolute copy numbers for the samples)revealed that our system successfully collected sufficient numbers of cells from the pharyngeal wall for respiratory disease diagnosis.In summary,we have developed a pharyngeal swab-sampling system based on an“enveloping”soft actuator,studied the sampling process,and imple-mented whole-process robotic oropharyngeal swab-sampling.

关键词： Diagnosis Medical robot Soft end-effector Swab-sampling Digital PCR

Progress and prospect of technical and regulatory challenges on tissue-engineered cartilage as therapeutic combination product

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Bioactive Materials 2023年第2期20卷 501-518页

作者： Xiaolei Guo Yuan Ma Yue Min Jiayi Sun Xinli Shi Guobiao Gao Lei Sun jiadao wang Center for Medical Device Evaluation National Medical Products AdministrationBeijingPR China State Key Laboratory of Tribology Tsinghua UniversityBeijingPR China

Hyaline cartilage plays a critical role in maintaining joint function and pain.However,the lack of blood supply,nerves,and lymphatic vessels greatly limited the self-repair and regeneration of damaged cartilage,giving rise to various tricky issues in medicine.In the past 30 years,numerous treatment techniques and commercial products have been developed and practiced in the clinic for promoting defected cartilage repair and regeneration.Here,the current therapies and their relevant advantages and disadvantages will be summarized,particularly the tissue engineering strategies.Furthermore,the fabrication of tissue-engineered cartilage under research or in the clinic was discussed based on the traid of tissue engineering,that is the materials,seed cells,and bioactive factors.Finally,the commercialized cartilage repair products were listed and the regulatory issues and challenges of tissue-engineered cartilage repair products and clinical application would be reviewed.

关键词： Tissue engineering cartilage Regulatory challenge Stem cell Scaffolds Bioactive factor

Bionic Research on Fish Scales for Drag Reduction

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Journal of Bionic Engineering 2012年第4期9卷 457-464页

作者： Zhaoliang Dou jiadao wang Darong Chen State Key Laboratory of Tribology Tsinghua UniversityBeijing 100084P.R.China

To reduce friction drag with bionic method in a more feasible way, the surface microstructure of fish scales was analyzed attempting to reveal the biologic features responding to skin friction drag reduction. Then comparable bionic surface mimicking fish scales was fabricated through coating technology for drag reduction. The paint mixture was coated on a substrate through a self-developed spray-painting apparatus. The bionic surface with micron-scale caves formed spontaneously due to the interra- cial convection and deformation driven by interfacial tension gradient in the presence of solvent evaporation. Comparative experiments between bionic surface and smooth surface were performed in a water tunnel to evaluate the effect of bionic surface on drag reduction, and visible drag reduction efficiency was obtained. Numerical simulation results show that gas phase de- velops in solid-liquid interface of bionic surface with the effect of surface topography and partially replaces the solid-liquid shear force with gas-liquid shear force, hence reducing the skin friction drag effectively. Therefore, with remarkable drag re- duction performance and simple fabrication technology, the proposed drag reduction technique shows the promise for practical applications.

关键词： drag reduction micro-structured bionic surface fish scales polymer coating interfacial convection and deformation

Underwater drag reduction by gas

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Friction 2014年第4期2卷 295-309页

作者： jiadao wang Bao wang Darong CHEN State Key Laboratory of Tribology Tsinghua UniversityBeijing 100084China

Publications on underwater drag reduction by gas have been gathered in the present study.Experimental methods,results and conclusions from the publications have been discussed and analyzed.The stable existence of gas is a requirement for underwater drag reduction induced by slippage at the water-solid interface.A superhydrophobic surface can entrap gas in surface structures at the water-solid interface.However,many experimental results have exhibited that the entrapped gas can disappear,and the drag gradually increases until the loss of drag reduction with immersion time and underwater flow.Although some other surface structures were also experimented to hold the entrapped gas,from the analysis of thermodynamics and mechanics,it is difficult to prohibit the removal of entrapped gas in underwater surface structures.Therefore,it is essential to replenish a new gas supply for continued presence of gas at the interface for continued underwater drag reduction.Active gas supplement is an effective method for underwater drag reduction,however,that needs some specific equipment and additional energy to generate gas,which limits its practical application.Cavitation or supercavitation is a method for passive gas generation,but it is only adaptive to certain vehicles with high speed.Lately,even at low speed,the evaporation induced by liquid-gas-solid interface of a transverse microgrooved surface for continued gas supply has been discovered,which should be a promising method for practical application of underwater drag reduction by gas.

关键词： drag reduction entrapped gas skin friction underwater

Hydrothermal and sulfur aging of CeTi/CeWTi catalysts for selective catalytic reduction of NOx with NH3

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Journal of Rare Earths 2019年第8期37卷 829-836,I0002页

作者： Lei Chen Ding wang jiadao wang Duan Weng Li Cao State Key Laboratory of Tribology School of Mechanical EngineeringTsinghua UniversityBeijing 100084China Key Laboratory of Advanced Materials of Ministry of Education School of Materials Science and EngineeringTsinghua UniversityBeijing 100084China

The CeO2-TiO2(CeTi)and CeO2/WO3-TiO2(CeWTi)catalysts were prepared by sol-gel method.The asprepared catalysts were hydrothermally treated at 760℃for 48 h in air containing 10 vol%H2O to obtain the hydrothermal aged catalysts.The sulfur aged catalysts were treated at 400℃with 100 ppm SO2,10%water vapor,air balance for 48 h and catalysts.The powder X-ray diffraction(XRD)and Raman results indicate that the crystallization of hydrothermal aged catalysts is more serious than sulfur aged catalysts.In addition,tungsten species can stabilize the CeTi catalyst from grain growth.According to the results of in situ diffuse reflectance infrared Fourier transform spectra(DRIFTS),temperatureprogrammed desorption of ammonia(NH3-TPD),H2 temperature-programmed reduction(H2-TPR)and ammonia oxidation,the aging process leads to loss of surface area,redox properties,surface acidities and surface ceria concentration,especially for the hyd rothermal aging.The NH3-NO/NO2 SCR perfo rmances of sulfur aged catalysts are better than that of hydrothermal aged catalysts.Compared with CeTi catalyst,the addition of tungsten inhibits the crystallization of catalyst.So that more acid sites and active sites are retained.This is also the reason why tungsten addition improves the NH3-NO/NO2 SCR performance of CeTi catalyst.

关键词： CeWTi catalyst Crystallization Surface acidity Redox property SCR activity Rare earths

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One-step fabrication superhydrophobic sand filter for capillary-driven separation of water-in-oil emulsions

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Chinese Journal of Chemical Engineering 2021年第5期34卷 70-75页

作者： Bao wang Chaolang Chen Zhaoxin Li Jianfeng Wu Xianglou Liu jiadao wang Northeast Petroleum University Daqing 163318China Sate Key Laboratory of Tribology Tsinghua UniversityBeijing 100084China

The efficient separation of water-in-oil emulsion is of significance in environment and energy filed,and it has become a world-wide challenge.Herein,we have presented a one-step,facile and low-cost approach to prepare superhydrophobic sands for efficient separation of water-in-oil emulsion.The as-prepared sand layers possessed a water contact angle higher than 151°,demonstrating their superior superhydrophobic property.Besides,the as-prepared sand layers could separate water-in-emulsions with separation efficiency up to 99.7%,which is superior to both traditional and superwettable filtration membranes.The effect of thickness of sand layer on separation performance was also investigated.The results showed that the filtration flux decreased with the increased of filtration thickness while the separation efficiency increased.The as-prepared sand layer proposed by this study is a processing candidate for separating water-in-oil emulsion in practical industry.Additionally,the as-prepared superhydrophobic sand fabrication method also provides an alternative for desert water storage.

关键词： Separation Filtration Superhydrophobic sand Preparation Emulsion

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Progress of marine biofouling and antifouling technologies

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Chinese Science Bulletin 2011年第7期56卷 598-612页

作者： Shan Cao jiadao wang HaoSheng Chen DaRong Chen Tsinghua Univ State Key Lab Tribol Beijing 100084 Peoples R China

Adhesion of marine fouling organisms on artificial surfaces such as ship hulls causes many problems, including extra energy consumption, high maintenance costs, and increased corrosion. Therefore, marine antifouling is an important issue. In this review, physical and biochemical developments in the field of marine biofouling, which involves biofilm formation and macro-organism settlement, are discussed. The major antifouling technologies based on traditional chemical methods, biological methods, and physical methods are presented. The chemical methods include self-polishing types such as tributyltin (TBT) self-polishing co- polymer coatings, which despite its good performance has been banned since 2008 because of its serious environmental impact. Therefore, other methods have been encouraged. These include coatings with copper compounds and biocide boosters to replace the TBT coatings. Biological extracts of secreted metabolites and enzymes are anticipated to act as antifoulants. Physical methods such as modification of surface topography, hydrophobic properties, and charge potential have also been considered to prevent biofouling. In this review, most of the current antifouling technologies are discussed. It is proposed that the physical antifouling technologies will be the ultimate antifouling solution, because of their broad-spectrum effectiveness and zero toxicity.

关键词：海洋生物污染防污技术物理方法丁基锡化合物化学方法生物杀灭剂能源消耗生物附着

Introduction of manganese based lithium-ion Sieve-A review

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Progress in Natural Science:Materials International 2020年第2期30卷 139-152页

作者： Ding Weng Haoyue Duan Yacong Hou Jing Huo Lei Chen Fang Zhang jiadao wang State Key Laboratory of Tribology Department of Mechanical EngineeringTsinghua University The Education Ministry Key Lab of Resource Chemistry Shanghai Key Laboratory of Rare Earth Functional MaterialsShanghai Normal University China Center for Information Industry Development

With the large-scale use of lithium-ion batteries,the global demand for lithium resources has increased dramatically.It is essential to extract lithium resources from liquid lithium sources such as brine and seawater,as well as recycled waste lithium-ion batteries.Among various liquid lithium extraction technologies,lithium ionsieve(LIS) adsorption is considered to be the most promising method for its low energy consumption and environment-friendly.This method has advantages of excellent lithium uptake capacity,high selective,and good regeneration performance.In this review,we summarized the development of lithium manganese oxides(LMO)-type LIS,including the chemical structure,lithium intercalation/de-intercalation mechanism,preparation methods and forming technology of this material.The problems in the industrial application of ion-sieves are put forward,and the future research directions are prospected.

关键词： Ion-sieve Lithium adsorption Lithium manganese oxides

A prediction of drag reduction by entrapped gases in hydrophobic transverse grooves

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Science China(Technological Sciences) 2013年第12期56卷 2973-2978页

作者： wang Bao wang jiadao CHEN DaRong State Key Laboratory of Tribology Tsinghua University

The drag reduction effect of super-hydrophobic surface induced by the entrapped gas is unstable due to the gradual disappearance of the trapped gas.In this paper,a hydrophobic transverse grooved surface was designed to sustain gas in valleys.A detail numerical simulation was presented to investigate the flow field near the proposed surface.When water flowed over this surface,the entrapped gas was blocked by the ridges and the solid-liquid interface was replaced by the liquid-gas interface due to the entrapped gas,furthermore the micro-vortex formed in the groove.Because there was an effective slippage between water and solid induced by the entrapped gas,the velocity gradient of boundary layer decreased,which contributed to a remarkable drag reduction effect.Additionally,considering the extra undesired pressure drag reduction which negatively impacted the drag reduction effect of this method,the total drag coefficient including the viscous drag coefficient and the pressure coefficient was analyzed.An effective drag reduction rate of about 15%was achieved and the effect of this method was confirmed by experiments conducted in a high-speed water tunnel when grooves were optimized.

关键词：气体夹带疏水表面减阻效果预测拖动压力系数总阻力系数数值模拟

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