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Leader-follower: Human-centered intention-guided controller for novel Superlimb with application to load-carrying scenarios

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Science China Technological Sciences 2025年第1期 325-338页

作者： Qinghua ZHANG Xianglong li Hongwei JING Kerui SUN Yuancheng li Sikai ZHAO lele li Haotian JU Ziqi WANG Rui WU Tianjiao ZHENG Jie ZHAO Yanhe ZHU The State Key Laboratory of Robotics and System Harbin Institute of Technology The Learning Algorithms and Systems Laboratory School of Engineeringécole Polytechnique Fédérale de Lausanne

Supernumerary robotic arms(Superlimb) are a new type of wearable robot that works closely with humans as a third hand to augment human operation capability. Accurate conveyance of wearers' intentions, allocation of roles, and humancentered interaction considerations are the key points in the process of human–Superlimb collaboration. This paper proposes a human-centered intention-guided leader–follower controller that relies on the dynamic modeling of Superlimb with application to load-carrying scenarios. The proposed leader–follower controller takes the human as the leader and the Superlimb as the follower, achieving effective information communication, autonomous coordination, and good force compliance between Superlimb, humans, and the environment under human safety assurance. First, the human–Superlimb dynamic system is modeled to achieve force interaction with the environment and wearer. Second, to achieve the precise intention extraction of humans, pose data from five visual odometry sensors are fused to capture the human state, the generalized position, the velocity of hands, and the surface electromyography signals from two myoelectric bracelets sensors are processed to recognize the natural hand gestures during load-carrying scenarios by a designed Swin transformer network. Then, based on the real-time distance detection between human and mechanical limbs, the security assurance and force-compliant interaction of the human–Superlimb system are realized. Finally, the human hand muscle intention recognition, human–robot safety strategy verification,and comparative load-carrying experiments with and without the proposed method are conducted on the Superlimb *** showed that the task parameters are well estimated to produce more reasonable planning trajectories, and Superlimb could well understand the wearer's intentions to switch different Superlimb actions. The proposed sensor-based human–robot communication framework motivates future studies of o

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Cross-calibration of brightness temperature obtained by FY-3B/MWRI using Aqua/AMSR-E data for snow depth retrieval in the Arctic

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Acta Oceanologica Sinica 2021年第1期40卷 43-53页

作者： Haihua Chen lele li Lei Guan College of Information Science and Engineering Ocean University of ChinaQingdao 266100China

This study cross-calibrated the brightness temperatures observed in the Arctic by using the FY-3B/MWRI L1 and the Aqua/AMSR-E *** monthly parameters of the cross-calibration were determined and evaluated using robust linear *** snow depth in case of seasonal ice was calculated by using parameters of the crosscalibration of data from the MWRI *** correlation coefficients of the H/V polarization among all channels Tb of the two sensors were higher than *** parameters of the monthly cross-calibration were useful for the snow depth retrieval using the *** from the MWRI Tb were cross-calibrated to the AMSR-E *** in the data of the two sensors were optimized to approximately 0 K through the cross-calibration,the standard deviations decreased significantly in the range of 1.32 K to 2.57 K,and the correlation coefficients were as high as 99%.An analysis of the statistical distributions of the histograms before and after cross-calibration indicated that the FY-3B/MWRI Tb data had been well ***,the results of the cross-calibration were evaluated by data on the daily average Tb at 18.7 GHz,23.8 GHz,and 36.5 GHz(V polarization),and at 89 GHz(H/V polarization),and were applied to the snow depths retrieval in the *** parameters of monthly cross-calibration were found to be effective in terms of correcting the daily average *** results of the snow depths were compared with those of the calibrated MWRI and AMSR-E *** of 0.18 cm to 0.38 cm were observed in the monthly snow depths,with the standard deviations ranging from 4.19 cm to 4.80 cm.

关键词： FY-3B AMSR-E brightness temperature(T^(b)) cross-calibration snow depth Arctic

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Retrieval of Snow Depth on Sea Ice in the Arctic Using the FengYun-3B Microwave Radiation Imager

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Journal of Ocean University of China 2019年第3期18卷 580-588页

作者： li lele CHEN Haihua GUAN Lei College of Information Science and Engineering Ocean University of China

Snow on sea ice is a sensitive indicator of climate change because it plays an important role regulating surface and near surface air temperatures. Given its high albedo and low thermal conductivity, snow cover is considered a key reason for amplified warming in polar regions. This study focuses on retrieving snow depth on sea ice from brightness temperatures recorded by the Microwave Radiation Imager(MWRI) on board the FengYun(FY)-3 B satellite. After cross calibration with the Advanced Microwave Scanning Radiometer-EOS(AMSR-E) Level 2 A data from January 1 to May 31, 2011, MWRI brightness temperatures were used to calculate sea ice concentrations based on the Arctic Radiation and Turbulence Interaction Study Sea Ice(ASI) algorithm. Snow depths were derived according to the proportional relationship between snow depth and surface scattering at 18.7 and 36.5 GHz. To eliminate the influence of uncertainties in snow grain sizes and sporadic weather effects, seven-day averaged snow depths were calculated. These results were compared with snow depths from two external data sets, the IceBridge ICDIS4 and AMSR-E Level 3 Sea Ice products. The bias and standard deviation of the differences between the MWRI snow depth and IceBridge data were respectively 1.6 and 3.2 cm for a total of 52 comparisons. Differences between MWRI snow depths and AMSR-E Level 3 products showed biases ranging between-1.01 and-0.58 cm, standard deviations from 3.63 to 4.23 cm, and correlation coefficients from 0.61 to 0.79 for the different months.

关键词： MWRI AMSRE brightness temperature snow depth inter-sensor calibration sea ice concentration

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An aptamer-driven DNA nanodevice for improved delivery of synthetic immunostimulants

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Nano Research 2024年第10期17卷 9078-9083页

作者： Dejie Lu Zhenghan Di lele li Jian Zhao li Zheng Guangxi Engineering Center in Biomedical Materials for Tissue and Organ Regeneration Collaborative Innovation Centre of Regenerative Medicine and Medical BioResource Development and ApplicationGuangxi Key Laboratory of Regenerative MedicineThe First Affiliated Hospital of Guangxi Medical UniversityGuangxi Medical UniversityNanning 530021China CAS Key Laboratory for Biomedical Effects of Nanomaterials and Nanosafety National Center for Nanoscience and TechnologyBeijing 100190China

Efficient delivery of therapeutics to immune cells remains a formidable challenge for cancer *** this work,we demonstrate that an aptamer-driven DNA nanodevice,constructed through linkage of a synthetic immunostimulant(Toll-like receptor 9 agonist:CpG motif)to an aptamer,could significantly enhance the immunostimulatory activity by facilitating the uptake and retention of therapeutics in *** administration of the DNA nanodevice results in efficient tumor growth inhibition in both breast cancer and melanoma mouse *** studies suggest that the DNA nanodevice leads to reeducation of tumor-associated macrophages and ultimately to reversing the tumor immune *** strategy for aptamer-mediated and vehicle-free delivery of immunostimulatory oligonucleotides provides a potential platform for cancer immunotherapy.

关键词： aptamer immunostimulatory oligonucleotides DNA nanodevice tumor-associated macrophages cancer therapy

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An AND-Gate DNA Nanodevice for Dual Protein-Mediated,Tumor-Specific Imaging

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Chinese Journal of Chemistry 2023年第12期41卷 1437-1442页

作者： Zetan Fan Fangzhi Yu Mingming Yu lele li CAS Key Laboratory for Biomedical Effects of Nanomaterials and Nanosafety National Center for Nanoscience and Technology Beijing 100190 China Beijing Municipal Pollution Source Management Center Beijing 100089 China Green Catalysis Center and College of Chemistry Zhengzhou University Zhengzhou Henan 450001 China

Sensitive and specific imaging of tumor-associated biomarkers offers an effective way for cancer ***,most of the reported imaging probes are limited to the targeting of a single biomarker,which may impair imaging ***,we report an aptamer-based,AND-gate DNA nanodevice that relies on the sequential processing of two tumor-associated proteins to produce a specific fluorescent signal for precise tumor *** DNA nanodevice integrates an AS1411 aptamer to bind cell surface nucleolin for tumor targeting and a DNA sensor to respond to intracellular apurinic/apyrimidinic endonuclease 1 for activatable *** evaluated the performance of the system in both living cells and a tumor-bearing mouse model,and demonstrated its capability in tumor cell-specific *** anticipate that this strategy will accelerate the design of multivariate protein-stimulated probes for tumor diagnosis.

关键词： Aptamer DNA nanodevice Protein Sensor Bioimaging

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Arctic sea ice concentration retrieval using the DT-ASI algorithm based on FY-3B/MWRI data

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Acta Oceanologica Sinica 2021年第11期40卷 176-188页

作者： Hairui Hao Jie Su Qian Shi lele li Key Laboratory of Physical Oceanography of Ministry of Education Ocean University of ChinaQingdao 266100China University Corporation for Polar Research Beijing 100875China Pilot National Laboratory for Marine Science and Technology(Qingdao) Qingdao 266237China Southern Marine Science and Engineering Guangdong Laboratory(Zhuhai) Zhuhai 519082China Faculty of Information Science and Engineering Ocean University of ChinaQingdao 266100China

Sea ice concentration(SIC)is one of the most important indicators when monitoring climate changes in the polar *** the development of the Chinese satellite technology,the Feng Yun(FY)series has been applied to retrieve the sea ice parameters in the polar *** this paper,to improve the SIC retrieval accuracy from the passive microwave(PM)data of the Microwave Radiation Imager(MWRI)aboard on the Feng Yun-3 B(FY-3 B)Satellite,the dynamic tie-point(DT)Arctic Radiation and Turbulence Interaction Study(ARTIST)Sea Ice(ASI)(DT-ASI)SIC retrieval algorithm is applied and obtained Arctic SIC data for nearly 10 a(from November 18,2010 to August 19,2019).Also,by applying a land spillover correction scheme,the erroneous sea ice along coastlines in melt season is *** results of FY-3 B/DT-ASI are obviously improved compared to that of FY-3 B/NT2(NASA-Team2)in both SIC and sea ice extent(SIE),and are highly consistent with the results of similar products of AMSR2(Advanced Microwave Scanning Radiometer 2)/ASI and AMSR2/*** with the annual average SIC of FY-3 B/NT2,our result is reduced by 2.31%.The annual average SIE difference between the two FY-3 Bs is 1.65×10^(6) km^(2),of which the DT-ASI algorithm contributes 87.9%and the land spillover method contributes12.1%.We further select 58 MODIS(Moderate-resolution Imaging Spectroradiometer)cloud-free samples in the Arctic region and use the tie-point method to retrieve SIC to verify the accuracy of these SIC *** root mean square difference(RMSD)and mean absolute difference(MAD)of the FY-3 B/DT-ASI and MODIS results are 17.2%and 12.7%,which is close to those of two AMSR2 products with 6.25 km resolution and decreased 8%and 7.2%compared with FY-3 B/***,FY-3 B/DT-ASI has the most significant improvement where the SIC is lower than 60%.A high-quality SIC product can be obtained by using the DT-ASI algorithm and our work will be beneficial to promote the application of Feng Yun Satellite.

关键词： DT-ASI FY-3B/MWRI sea ice concentration MODIS

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Coordination-driven self-assembly of metallo-nanodrugs for local inflammation alleviation

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Nano Research 2023年第12期16卷 13259-13266页

作者： lijuan Tang Zhenghan Di Jingfang Zhang Feiying Yin lele li li Zheng Guangxi Key Laboratory of Regenerative Medicine Guangxi Engineering Center in Biomedical Material for Tissue and Organ RegenerationCollaborative Innovation Centre of Regenerative Medicine and Medical BioResource Development nd Application Co-Constructed by the Province and MinistryThe First Affiliated Hospital of Guangxi Medical UniversityNanning 530021China Pharmaceutical College Guangxi Medical UniversityNanning 530021China CAS Key Laboratory for Biomedical Effects of Nanomaterials and Nanosafety National Center for Nanoscience and TechnologyBeijing 100190China

Developing dedicated nanomedicines to improve delivery efficacy of anti-inflammatory drugs is still a formidable *** this study,we present an extremely simple yet efficient approach to obtain hybrid nanodrugs through metal-drug coordination-driven self-assembly for carrier-free drug *** resulting metallo-nanodrugs exhibit well-defined morphology and high drug encapsulation capability,allowing for the combination of magnetic resonance imaging and anti-inflammatory *** the case of osteoarthritis(OA),the metallo-nanodrugs remarkably alleviate synovial inflammation,preventing cartilage destruction and extracellular matrix *** addition,it led to significantly improved therapeutic efficacy compared with intra-articular administration of the same dose of free drugs in OA mouse *** work provides a very simple approach for the development of anti-inflammatory nanoformulations by exploiting coordination-driven self-assembly.

关键词： drug delivery coordination-driven assembly nanomedicine anti-inflammation therapy

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A smart DNA nanodevice for ATP-activatable bioimaging and photodynamic therapy

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Science China Chemistry 2020年第10期63卷 1490-1497页

作者： Bei liu Rui Ma Jian Zhao Yuliang Zhao lele li School of Science Minzu University of ChinaBeijing 100081China CAS Key Laboratoty for Biomedical Effects of Nanomaterials and Nanosafety and CAS Center for Excellence in Nanoscience National Center for Nanoscience and TechnologyBeijing 100190China College of Materials Science and Optoelectronic Technology University of Chinese Academy of SciencesBeijing 100049China GBA Research Innovation Institute for Nanotechnology Guangdong 510700China

Rational design of activatable photosensitizers for controlled generation of singlet oxygen remains a challenge for precise photodynamic therapy(PDT).Herein,we present an aptamer-based nanodevice for adenosine 5′-triphosphate(ATP)-activatable bioimaging and *** nanodevice is constructed by modifying ATP-responsive duplex DNA units and polyethylene glycol on the surface of a gold nanoparticle(AuNP)through the thiolate-Au *** DNA units were designed by the hybridization of the ATP aptamer strand with a methylene blue(MB)-modified complementary DNA(cDNA).The close proximity of MB to the surface of AuNP results in the low photodynamic activity of MB(OFF state).Once internalized into cancer cells,the ATP-binding induced conformation switch of aptamer strand leads to the release of the MB-bearing DNA strand from AuNPs,resulting in the activatable generation of singlet oxygen under light irradiation(ON state).We demonstrate that the DNA nanodevice represents a promising platform for ATP-responsive bioimaging and specific PDT in vitro and in *** work highlights a potential way for specific tumor diagnosis and therapy.

关键词： DNA nanotechnology ATP-activatable photodynamic therapy bioimaging

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Self-assembly of DNA Nanostructures via Bioinspired Metal Ion Coordination

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Chemical Research in Chinese Universities 2020年第2期36卷 268-273页

作者： WANG Congli DI Zhenghan FAN Zetan li lele CAS Key Laboratory for Biomedical Effects of Nanomaterials and Nanosafety and CAS Center for Excellence in Nanoscience National Center for Nanoscience and TechnologyBeijing 100190P.R.China Center of Materials Science and Optoelectronics Engineering University of Chinese Academy of SciencesBeijing 100049P.R.China

Despite a growing interest in DNA nanomaterials,their simple synthesis remains a challenge.A simple and general strategy for constructing DNA-based nanomaterials by metal ion coordination is *** me-tal-DNA nanoparticles(NPs)could be synthesized with DNA molecules of diverse sequence and various metal ions of intrinsic property,resulting in multifunctional NPs with the combined advantages of both inorganic and DNA building *** is demonstrated that the hybrid metal-DNA NPs could be engineered for magnetic resonance and luminescence imaging,encapsulation of multifarious nucleic acids with controlled ratio,and co-assembly with small drug ***,because these metal-DNA NPs exhibited enhanced cellular uptake compared to free synthetic DNA,they hold potential for applications in diagnostics and therapeutics.

关键词： DNA nanotechnology Metal ion coordination Self-assembly

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Engineering hierarchical metal-organic@metal-DNA heterostructures for combinational tumor treatment

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Nano Research 2023年第11期16卷 12633-12640页

作者： Xueyan Feng Bei liu Zehao Zhou Wei li Jian Zhao lele li Yuliang Zhao CAS Key Laboratory for Biomedical Effects of Nanomaterials and Nanosafety National Center for Nanoscience and TechnologyBeijing 100190China College of Materials Science and Optoelectronic Technology University of Chinese Academy of SciencesBeijing 100049China Department of Nanomedicine&Shanghai Key Lab of Cell Engineering Naval Medical UniversityShanghai 200433China

Development of simple methods for controlled integration of DNA molecules with metal-organic frameworks(MOFs)is important for various biomedical applications,yet remains a ***,a simple and general approach to load DNA on the surface of MOFs is developed via one-pot self-assembly of DNA and FeII ions on nanoscale MOFs,resulting in hierarchical core-shell nanostructures of metal-organic@metal-DNA coordination *** strategy enables assembly of DNA molecules on MOFs with ultra-high contents and precise *** incorporation of a chemotherapeutic drug into the Fe-DNA shell,the systems allow to integrate chemotherapy and gene therapy with photodynamic therapy for combinational tumor ***,the hybrid nanostructures enable light-triggered production of cytotoxic singlet oxygen,which further boosts the endosomal escape of the system for an enhanced gene silencing efficacy and thus improved therapeutic *** work highlights a robust approach for the construction of coordination-based drug delivery systems to combat tumor.

关键词： metal-organic frameworks DNA hierarchical nanostructures coordination combinational tumor treatment

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