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Construction of Multilayer Porous Scaffold Based on Magnetically Guided Assembly of Microfiber

Journal of Systems Science & Complexity 2018年第3期31卷 581-595页

作者： LI Xingfu WANG Huaping SHI Qing SUN Tao HUANG Qiang fukuda toshio Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing 100081 China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing 100816 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

This paper proposes a novel method of magnetically guided assembly to construct multi- layer porous scaffold for three-dimensional cell culture by apply magnetic microfibers. Microfibers are composed of biocompatible and biodegradable alginate solution with homogeneous magnetic nanopar- ticles, which are continuously spun from a microfluidic device by precise pressure control of the syringe pump. Magnetic nanoparticles enable the control of magnetic field on microfibers. Meanwhile, mag- netized device combining with a round permanent magnet are utilized to guide the distribution of spouted microfibers. The device is composed by pure iron wire arrays and wax, which stimulates pow- erful magnetic flux density and magnetic field gradients for the capture and assembly of microfibers. Thus, magnetic microfibers are spun on desired places of the magnetized device by motion control of the micromanipulation robot, and precise locations are adjusted by magnetic force couple with the assist of glass micropipette. Afterwards, microfibers are spatially organized by periodic magnetic force and crossed layer-by-layer to form micro-pore structure with both length and width of 650μm. Finally, the authors construct a multilayer microfiber-based scaffold with high porosity to provide a satisfactory environment for long-term cell culture. The experimental results demonstrate the effectiveness of the proposed method.

关键词： Magnetically guided assembly magnetic microfiber magnetized device periodic magneticforce multilayer porous scaffold.

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Editorial for the Special Issue on Unmanned Intelligent Cluster

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Engineering 2022年第5期8卷 1-2页

作者： Jun Zhang toshio fukuda Defu Lin Florian Holzapfel School of Information and Electronics Beijing Institute of TechnologyBeijing 100081China School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China Institute of Flight System Dynamics Technical University of MunichGarching 85748Germany

Recent advances in networked cooperative autonomous sys-tems offer the potential to significantly improve system quality for a wide range of *** in embedded processor,sensor,communication,and networking technology in the last few decades has accelerated interest in networked cooperative autonomous systems,multirobot systems,and distributed sensor networks for applications such as manufacturing,logistics,pro-cess monitoring,enhanced situational awareness,plant safety,inspection,security,and rescue operations.

关键词： robot networks autonomous

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Learning Rat-Like Behavior for a Small-Scale Biomimetic Robot

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Engineering 2022年第10期17卷 232-243页

作者： Zihang Gao Guanglu Jia Hongzhao Xie Qiang Huang toshio fukuda Qing Shi Key Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology) Ministry of EducationBeijing 100081China Intelligent Robotics Institute School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China

Existing biomimetic robots can perform some basic rat-like movement primitives(MPs)and simple behavior with stiff combinations of these *** mimic typical rat behavior with high similarity,we propose parameterizing the behavior using a probabilistic model and movement ***,an analysis of fifteen 10 min video sequences revealed that an actual rat has six typical behaviors in the open field,and each kind of behavior contains different bio-inspired combinations of eight *** used the softmax classifier to obtain the behavior-movement hierarchical probability ***,we specified the MPs using movement parameters that are static and *** obtained the predominant values of the static and dynamic movement parameters using hierarchical clustering and fuzzy C-means clustering,*** predominant parameters were used for fitting the rat spinal joint trajectory using a second-order Fourier series,and the joint trajectory was generalized using a back propagation neural network with two hidden ***,the hierarchical probability model and the generalized joint trajectory were mapped to the robot as control policy and commands,*** implemented the six typical behaviors on the robot,and the results show high similarity when compared with the behaviors of actual rats.

关键词： Biomimetic Bio-inspired robot Neural network learning system Behavior generation

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Cyborg and Bionic Systems:Signposting the Future

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Cyborg and Bionic Systems 2020年第1期2020卷 17-18页

作者： toshio fukuda Beijing Institute of Technology China

Cyborg and Bionic Systems provides a much-needed forum for presenting research outcomes and insights in various fields concerning living-robotics hybrid *** research efforts within these fields are aimed at understanding,mimicking,and recapitulating natural principles and mechanisms of life,which have inspired numerous inventions and propelled technology advancements throughout *** cardiac pacemakers to artificial cochlea,a range of biomedical applications of cyborg and bionic system technologies has benefited *** organs,exoskeletons with neural interfacing,and brain-machine interfaces(BMIs)for neurological recovery have been applied to replace or repair lost *** example of inspiring achievements and the potential of cyborg and bionic system technologies to restore human capabilities is CYBATHLON,a championship for physically challenged people using assistive technologies which began in *** technologies are closely coupled with the“embodiment”issues which are essentially concerned with the psychological and sensing aspects of prosthetic arms and legs and even extra artificial limbs to augment our body for carrying out various tasks,a concept championed by a pioneering team led by Professor Harry Asada at MIT through a technology aptly named Supernumerary Robotic Limbs(SRL).

关键词： artificial replace skeleton

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Follow-Up Study of a Multiple Myeloma Patient Successfully Treated with Clarithromycin (CAM), Low-Dose Lenalidomide and Low-Dose Dexamethasone: Significance and Possible Mechanism of Action of CAM as an Add-On Therapy

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Case Reports in Clinical Medicine 2014年第12期3卷 674-684页

作者： Nobuo Takemori toshio fukuda Masaru Kojima Division of Hematology Internal Medicine Imai Hospital Ashikaga Japan Graduate School of Health Sciences Gunma University Maebashi Japan Department of Anatomic and Diagnostic Pathology Dokkyo Medical University School of Medicine Shimotsuga-gun Japan

Background: Recently, high efficacy of the chemotherapeutic regimen combining clarithromycin (CAM) with lenalidomide (Len) and dexamethasone (Dex) (BiRD) in treating multiple myeloma (MM) patients has been reported. However, the exact mechanism of added CAM has not been fully elucidated. This case report will provide helpful information for understanding the significance and the mechanism of action of CAM as an add-on therapy. Patient: A 78-year-old female patient with IgA-λ type MM was treated with low-dose Len coupled with low-dose Dex (low Rd), and excellent response was achieved for long term, but she later became refractory to this treatment. Then, CAM was added to low Rd (low Rd-CAM, i.e., modified BiRD therapy). This add-on-therapy was found to be effective, but later suspended because of pneumonitis. Then, low-dose Len coupled with CAM (low R-CAM) treatment was applied;but effect of this Dex-free treatment was insufficient. Thus, low Rd-CAM was reapplied and satisfactory reduction of IgA was achieved. This fact suggests that low Rd-CAM is the favorable combination, Dex is requisite and CAM might have enhanced the effect of Dex. In this case, various serum cytokines were examined during the course of illness. Only interleukin-6 showed apparent increase, and tumor necrosis factor-α, transforming growth factor-β, soluble IL-2 receptors and C-reactive protein showed the slight increase during low Rd-CAM treatment. The results seem somewhat conflicting, but it seems that intricate cytokine response due to immune activation might have occurred during low Rd-CAM treatment.

关键词： Follow-Up Study Multiple Myeloma Clarithromycin (CAM) Lenalidomide Dexamethasone Significance Mechanism of Action of CAM Add-On Therapy

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Three-Dimensional Modeling and Simualtion of Manipulating Deformable Linear objects

Three-Dimensional Modeling and Simualtion of Manipulating De...

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第三十届中国控制会议

作者： fukuda toshio Matsuno Takayuki Dept.Micro-Nano System Engineering Nagoya University NagoyaJapan

＜正＞Three-dimensional dynamic modeling and numerical simulation of manipulating deformable linear objects（DLOs） such as hoses,wire and cables are studied in this *** coordinate systems are introduced first to describe the deformation of *** dynamic three-dimensional deformation of an inextensible linear object is formulated using finite element method（FEM） and lagrange motion *** proposed method provides more efficient simulation of dynamic manipulating DLOs with faster computation *** simulation examples are illustrated to confirm the effectiveness of our *** is a comparison simulation study and the other shows the three-dimensional dynamic character of the DLO.

关键词： Deformable linear objects(DLOs) Finite element method(FEM) Robot manipulation Dynamic model

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In situ atomic-scale observation of size-dependent (de) potassiation and reversible phase transformation in tetragonal FeSe anodes

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InfoMat 2023年第1期5卷 161-171页

作者： Ran Cai Lixia Bao Wenqi Zhang Weiwei Xia Chunhao Sun Weikang Dong Xiaoxue Chang Ze Hua Ruiwen Shao toshio fukuda Zhefei Sun Haodong Liu Qiaobao Zhang Feng Xu Lixin Dong Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Medical TechnologyBeijing Institute of TechnologyBeijingPeople's Republic of China Analysis&Testing Center Beijing Institute of TechnologyBeijingPeople's Republic of China Department of Biomedical Engineering City University of Hong KongHong KongPeople's Republic of China Shaanxi Materials Analysis and Research Center School of Materials Science and EngineeringNorthwestern Polytechnical UniversityXi'anPeople's Republic of China School of Environmental and Safety Engineering North University of ChinaTaiyuanPeople's Republic of China Department of Materials Science and Engineering College of MaterialsXiamen UniversityXiamenFujianPeople's Republic of China Department of Nanoengineering University of California San DiegoLa JollaCaliforniaUSA SEU-FEI Nano-Pico Center Key Laboratory of MEMS of Ministry of EducationSoutheast UniversityNanjingPeople's Republic of China

Potassium-ion batteries(PIBs)are considered promising alternatives to lithium-ion batteries owing to cost-effective potassium resources and a suitable redox potential of-2.93 V(vs.-3.04 V for Li+/Li).However,the exploration of appro-priate electrode materials with the correct size for reversibly accommodating large K+ions presents a significant *** addition,the reaction mecha-nisms and origins of enhanced performance remain ***,tetragonal FeSe nanoflakes of different sizes are designed to serve as an anode for PIBs,and their live and atomic-scale potassiation/depotassiation mechanisms are revealed for the first time through in situ high-resolution transmission electron *** found that FeSe undergoes two distinct structural evolutions,sequen-tially characterized by intercalation and conversion reactions,and the initial intercalation behavior is *** expansion induced by the intercalation of K+ions is observed in small-sized FeSe nanoflakes,whereas unexpected cracks are formed along the direction of ionic diffusion in large-sized *** significant stress generation and crack extension originating from the combined effect of mechanical and electrochemical interactions are elucidated by geometric phase analysis and finite-element *** the different intercalation behaviors,the formed products of Fe and K_(2)Se after full potassiation can be converted back into the original FeSe phase upon *** particular,small-sized nanoflakes exhibit better cycling perfor-mance with well-maintained structural *** article presents the first successful demonstration of atomic-scale visualization that can reveal size-dependent potassiation ***,it provides valuable guidelines for optimizing the dimensions of electrode materials for advanced PIBs.

关键词： elucidated by geometric phase analysis and finite-element analysis. Despite the different intercalation behaviors the formed products of Fe and K 2 Se after full potassiation can be converted back into the original FeSe phase upon depotassiation. In particular small-sized nanoflakes exhibit better cycling perfor- mance with well-maintained structural integrity. This article presents the first successful demonstration of atomic-scale visualization that can reveal size- dependent potassiation dynamics. Moreover it provides valuable guidelines for optimizing the dimensions of electrode materials for advanced PIBs. KEYWOR DS in situ transmission electron microscopy potassium-ion batteries potassium-ion storage mechanism size-dependent effects tetragonal FeSe

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Accurate modulation of photoprinting under stiffness imaging feedback for engineering ECMs with high-fidelity mechanical properties

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Microsystems & Nanoengineering 2022年第3期8卷 291-301页

作者： Xin Li Huaping Wang Xinyi Dong Qing Shi Tao Sun Shingo Shimoda Qiang Huang toshio fukuda Intelligent Robotics Institute School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China The Key Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology) Ministry of EducationBeijing 100081China School of Medical Technology Beijing Institute of TechnologyBeijing 100081China Intelligent Behavior Control Collaboration Unit RIKEN Center of Brain Science463-0003 NagoyaJapan

Engineered extracellular matrices(ECMs)that replicate complex in-vivo features have shown great potential in tissue *** hydrogel microstructures have been widely used to replace these native ECMs for physiologically relevant ***,accurate reproduction of the 3D hierarchical and nonuniform mechanical stffness inside one integrated microstructure to mimic the complex mechanical properties of native ECMs presents a major ***,by using digital holographic microscopy(DHM)-based stffness imaging feedback,we propose a novel closed-loop control algorithm to achieve high-accuracy control of mechanical properties for hydrogel microstructures that recapitulate the physiological properties of native ECMs with high *** photoprinting,the photocuring area of the hydrogel is divided into microscale grid areas to locally control the photocuring *** the assistance of a motorized microfluidic channel,the curing thickness is controlled with layer-by-layer *** DHM-based stiffness imaging feedback allows accurate adjustment of the photocuring degree in every grid area to change the crosslinking network density of the hydrogel,thus enabling large-span and high-resolution modulation of mechanical ***,the gelatin methacrylate was used as a typical biomaterial to construct the highfidelity biomimetic *** Young's modulus could be flexibly modulated in the 10 kPa to 50 kPa ***,the modulus gradient was accurately controlled to within 2.9 *** engineering ECM with locally different mechanical properties,cell spreading along the stff areas was observed *** believe that this method can regenerate complex biomimetic ECMs that closely recapitulate in-vivo mechanical properties for further applications in tissue engineering and biomedical research.

关键词： microstructure ECM curing

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The hemodynamic study for growth factor evaluation of rupture cerebral aneurysm followed up for five years

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Journal of Biomedical Science and Engineering 2012年第12期5卷 884-891页

作者： Masahiro Kojima Keiko Irie Seiichi Ikeda toshio fukuda Fumihito Arai Yuichi Hirose Makoto Negoro Department of Mechanical Engineering Nagoya University Nagoya Japan Department of Micro-Nano System Mechatronics Nagoya University Nagoya Japan Department of Neurosurgery Fujita Health University Toyoake Japan

Computer-based simulations are essential for clarifying the hemodynamics of brain aneurysms. Since cerebrovascular disease is often fatal, it is strongly desirable to predict its progression. While previous studies have clarified the initiation mechanism of aneurysms, their growth mechanism remains unclear. Consequently, it is difficult to develop a diagnostic system for predicting aneurysm rupture. This study seeks to clarify the mechanism of aneurysm growth by identifying significant hydrodynamic factors. We focus on a single ruptured aneurysm that was followed up for five years. Computer simulations and fluid dynamic experiments with silicone vessel models were performed. To confirm the reliability of data in the computer simulations, we conducted particle image velocimetry measurements in steady flow. We then performed computer simulations for pulsatile conditions to determine an effective index for aneurysm growth. We obtained good agreement between the trends in the obtained computer simulation and experimental data. Numerical simulations for pulsatile flow in three models revealed that aneurysms grew in regions having a low wall shear stress, a low aneurysm formation indicator, and a high oscillatory shear index.

关键词： Simulation Aneurysm PIV

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Continued Diagnostic Difficulties in Preoperatively Differentiating Lipiodized Oil and Residual Metallic Material: A Case Report

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Case Reports in Clinical Medicine 2016年第4期5卷 125-129页

作者： Masashi Haraguchi Shinichiro Ito Kohei Kotera Aya Fukushima toshio fukuda Hirotaka Tokai Kazumasa Noda Masataka Hirabaru Toshiyuki Adachi Nobuhiro Tada Keiji Inoue Shinya Onizuka Shigeki Minami Department of Surgery Nagasaki Harbor Medical Center City Hospital Nagasaki Japan Department of Obstetrics and Gynecology Nagasaki Harbor Medical Center City Hospital Nagasaki Japan Department of Radiology Nagasaki Harbor Medical Center City Hospital Nagasaki Japan

Retained foreign objects in the abdomen and pelvis are serious clinical problems yet the imaging required can present difficulties. Prolonged retention of lipiodized oil used for hysterosalpingography over years is very rare. However, lipiodized oil had previously been misdiagnosed as residual metallic material. We are reporting a case in which the latest computed tomography (CT) equipment seemed inadequate for obtaining a clear pre-operative diagnosis. Here, we describe the case of a 33-year-old Japanese female whose pelvis had contained retained lipiodized oil that had been suspected as residual metallic material. The preoperative diagnosis was very difficult and included three-dimensional computed tomography (3D-CT) of unclear results despite expectations of resolution. By laparoscopic surgery, we removed a cyst of approximately 2 cm containing a yellowish oily fluid. Postoperatively, we demonstrated that the fluid was lipiodized oil. A postoperative experiment to attempt distinguishing lipiodized oil from metal through gemstone spectral CT imaging did not offer clarity either. Distinguishing between retained lipiodized oil and metallic material in the abdominal cavity may still present unexpected difficulties even with the latest medical equipments.

关键词： Lipiodized Oil Hysterosalpingography Residual Metallic Material

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