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Shape estimation for a TPU-based multi-material 3D printed soft pneumatic actuator using deep learning models

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Science China(Technological Sciences) 2024年第5期67卷 1470-1481页

作者： hu Yu TANG Wei qu Yang xu huXiu KRAMARENKO Yu.Elena ZOU Jun State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou310058China School of Mechanical Engineering Zhejiang UniversityHangzhou310027China Institute of Process Equipment College of Energy EngineeringZhejiang UniversityHangzhou310027China Faculty of Physics Lomonosov Moscow State UniversityMoscow119991Russia Enikolopov Institute of Synthetic Polymeric Materials of Russian Academy of Sciences Moscow117393Russia

Real-time proprioception presents a significant challenge for soft robots due to their infinite degrees of freedom and intrinsic *** studies mostly focused on specific sensors and *** is still a lack of generalizable technologies for integrating soft sensing elements into soft actuators and mapping sensor signals to proprioception *** tackle this problem,we employed multi-material 3D printing technology to fabricate sensorized soft-bending actuators(SBAs)using plain and conductive thermoplastic polyurethane(TPU)*** designed various geometric shapes for the sensors and investigated their strain-resistive performance during *** address the nonlinear time-variant behavior of the sensors during dynamic modeling,we adopted a data-driven approach using different deep neural networks to learn the relationship between sensor signals and system states.A series of experiments in various actuation scenarios were conducted,and the results demonstrated the effectiveness of this *** sensing and shape prediction steps can run in real-time at a frequency of50 Hz on a consumer-level ***,a method is proposed to enhance the robustness of the learning models using data augmentation to handle unexpected sensor *** the methods are efficient,not only for in-plane 2D shape estimation but also for out-of-plane 3D shape *** aim of this study is to introduce a methodology for the proprioception of soft pneumatic actuators,including manufacturing and sensing modeling,that can be generalized to other soft robots.

关键词： shape estimation soft sensors and actuators 3D printing deep learning in robotics

Near-Field Heat Transfer Enhancement of SiC-hBN-InSb Thermophotovoltaic System by Graphene Strong Coupling Effects

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Journal of Thermal Science 2024年第4期33卷 1409-1420页

作者： xu Zhiguo hu Zhifang School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai200240China

Near-field thermophotovoltaic(NTPV)devices comprising a SiC-hBN-graphene emitter and a graphene-InSb cell with gratings are designed to enhance the performance of the NTPV *** electrodynamics and rigorous coupled-wave analysis are employed to calculate radiative heat transfer *** is found that the NTPV systems with two graphene ribbons perform better due to the graphene strong coupling *** effects of graphene chemical potential are *** is demonstrated that near-field radiative heat transfer of thermophotovoltaic devices is enhanced by the coupling of surface plasmon polaritons,surface phonon polaritons,hyperbolic phonon polaritons,and magnetic polaritons caused by the graphene strong coupling *** splitting frequency of different polaritons is calculated to quantify the mutual interaction of graphene strong coupling ***,the effects of cell grating filling ratio are *** excitation of magnetic polaritons is affected by the graphene ribbon and the cell filling *** investigation provides a new explanation of the enhancement mechanism of graphene-assisted thermophotovoltaic systems and a novel approach for improving the output power of the near-field thermophotovoltaic system.

关键词： near-field radiative heat transfer thermophotovoltaics strong coupling effect multiple magnetic polaritons graphene-hbn heterostructures

TREM-2 Drives Development of Multiple Sclerosis by Promoting Pathogenic Th17 Polarization

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Neuroscience Bulletin 2024年第1期40卷 17-34页

作者： Siying qu Shengfeng hu huiting xu Yongjian Wu Siqi Ming Xiaoxia Zhan Cheng Wang Xi huang Center for Infection and Immunity and Guangdong Provincial Engineering Research Center of Molecular Imaging The Fifth Affiliated Hospital of Sun Yat-sen UniversityZhuhai 519000China The State Key Laboratory of Respiratory Disease Guangdong Provincial Key Laboratory of Allergy and Clinical ImmunologyThe Second Affiliated HospitalGuangzhou Medical UniversityGuangzhou 510260China Department of Laboratory Medicine The First Affiliated Hospital of Sun Yat-sen UniversityGuangzhou 510080China Division of Nephrology Department of Medicinethe Fifth Affliated Hospital of Sun Yat-sen UniversityZhuhai 519000China

Multiple sclerosis(MS)is a neuroinflammatory demyelinating disease,mediated by pathogenic T helper 17(Th17)***,the therapeutic effect is accompa-nied by the fluctuation of the proportion and function of Th17 cells,which prompted us to find the key regulator of Th17 differentiation in ***,we demonstrated that the triggering receptor expressed on myeloid cells 2(TREM-2),a modulator of pattern recognition receptors on innate immune cells,was highly expressed on pathogenic CD4-positive T lymphocyte(CD4^(+)T)cells in both patients with MS and experimental autoimmune encephalomyelitis(EAE)mouse *** knockout of Trem-2 in CD4^(+)T cells significantly alleviated the disease activity and reduced Th17 cell infiltration,activation,differentiation,and inflammatory cytokine production and secretion in EAE ***,with Trem-2 knockout in vivo experiments and in vitro inhibitor assays,the TREM-2/zeta-chain associated protein kinase 70(ZAP70)/signal transducer and activator of transcription 3(STAT3)signal axis was essential for Th17 activation and differentiation in EAE *** conclusion,TREM-2 is a key regulator of pathogenic Th17 in EAE mice,and this sheds new light on the potential of this therapeutic target for MS.

关键词： Multiple sclerosis Experimental autoimmune encephalomyelitis T helper 17 Triggering receptor expressed on myeloid cells 2

Effect of the yaw angle on turbulent flow structures around the submarine model

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Journal of Hydrodynamics 2024年第3期36卷 421-434页

作者： Yi-jing hu Yi qu Qin Wu Biao huang School of Mechanical Engineering Beijing Institute of TechnologyBeijing100081China Beijing Institute of Electronic System Engineering Beijing100854China

The objective of this paper is to investigate the turbulent flow structures around the submarine model and evaluate the effect of the yaw angle on the turbulent flow *** large eddy simulation based on the boundary data immersion method is used to *** computational domain consists of 1.2×10^(8)uniformly distributed Cartesian orthogonal grid nodes to capture the basic flow characteristics around the *** pressure coefficient,friction coefficient and wake velocity distribution are in good agreement with the experimental *** different types of vortex structures were mainly captured around the model,including horseshoe vortex,sail tip vortex and crossflow separation *** the increase of the yaw angle,the asymmetry of the horseshoe vortex and the tip vortex gradually increases,and the vortex strength of the vortex leg on the windward of the horseshoe vortex and the vortex strength of the tip vortex also increase *** the crossflow separation vortex,the flow separation zone gradually expands and migrates downstream with the increase of the yaw angle.

关键词： Vortex structure submarine model boundary data immersion method yaw angle

Improving the high cycle fatigue property of Ti6Al4V ELI alloy by optimizing the surface integrity through electric pulse combined with ultrasonic surface rolling process

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Journal of Materials Science & Technology 2024年第3期170卷 103-121页

作者： Pengfei Sun Shengguan qu Chenfeng Duan Xiongfeng hu Xiaoqiang Li National Engineering Research Center of Near-Net-Shape Forming for Metallic Materials South China University of TechnologyGuangzhou 510640China School of Mechanical and Automotive Engineering South China University of TechnologyGuangzhou 510640China

To improve the surface integrity and high cycle fatigue property of Ti6Al4V ELI alloy,the electric pulse has been introduced into the ultrasonic surface rolling process(USRP),which is called electric pulse-assisted ultrasonic surface rolling process(EUSRP).With the help of“electroplasticity”of the electric pulse,the thickness of the surface gradient deformation layer was about three times of the USRP specimens by adjusting the pulse current ***,the surface hardness decreases due to the continuous effect of the pulse current and the“skin effect”during *** is worth noting that the higher the applied pulse current,the more severe the *** paradox causes the fatigue performance of EUSRP specimens lower than that of USRP *** break this paradox,the EUSRP treatment is followed by a USRP *** EUSRP-2(with a pulse current of 200 A)+USRP specimens exhibit excellent surface hardness,a gradient deformation layer thickness of about 400μm,low surface roughness and high compressive residual compressive ***,the hardening mechanisms of the different surface strengthening specimens have been quantitatively analyzed in combination with microstructure *** fatigue life of Ti6Al4V ELI alloy can be improved by about 25 times at 780 MPa using the EUSRP-2+USRP treatment,the main reason for the highest fatigue life is the deepest surface gradient layer and the deepest crack initiation *** fatigue limit of the EUSRP-2+USRP specimens is not the highest because too much surface hardening causes compressive residual stress relaxation during cycling and the beneficial effect of compressive residual stress is eliminated.

关键词： Ti6Al4V ELI alloy Combined surface treatment Transmission electron microscopy Residual stress Fatigue performance

A gold-based multiplex immunochromatographic sensor for detecting paclitaxel

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Nano Research 2024年第7期17卷 6420-6429页

作者： Xiaoqian Jiang Aihua qu Xinxin xu hua Kuang Liqiang Liu Chuanlai xu State Key Laboratory of Food Science and Technology Jiangnan UniversityWuxi 214122China International Joint Research Laboratory for Biointerface and Biodetection and School of Food Science and TechnologyJiangnan UniversityWuxi 214122China

Paclitaxel(PTX),methotrexate(MTX),and 5-fluorouracil(5-FU)are commonly-used small molecule anti-tumor drugs for breast ***,drug resistance occurs with long-term treatment or excessive use,and the high concentrations of PTX,MTX,and 5-FU in patients may lead to side effects with dose-limiting toxicities,such as myelosuppression,hepatotoxicity,and peripheral ***,concentration monitoring of PTX,MTX,and 5-FU in clinical treatment is very *** prepared highly sensitive and specific monoclonal antibodies using several haptens,and established a multiple paper-based sensor utilizing optical signals of gold nanoparticles,which simultaneously detected PTX,MTX,and 5-FU in human plasma or urine with 10 min.A portable scanner for quantitative detection in plasma and urine samples was used,and the calculated limit of detection(cLOD)values were 0.002 and 0.142μg/mL for PTX,0.187 and 0.976 ng/mL for MTX,and 0.057 and 0.128μg/mL for 5-FU,*** the recovery test,the recovery rates and the coefficient of variation were 85.84%–108.81%and 1.23%–8.80%,respectively,indicating the reliability and accuracy of the multiple gold immunochromatographic strip(GIS).In addition,for the determination of collected clinical plasma samples,the correlation between the test data of the multiple GIS and liquid chromatography–tandem mass spectrometry(LC–MS/MS)was ***,the developed multiple GIS could be applied to the rapid detection of PTX,MTX,and 5-FU in different clinical samples.

关键词： paclitaxel methotrexate 5-fluorouracil immunochromatographic assay plasma urine

quantitative assessment of the breast cancer marker HER2 using a gold nanoparticle-based lateral flow immunoassay

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Nano Research 2024年第6期17卷 5452-5460页

作者： Liya Ye Xinxin xu Aihua qu Liqiang Liu Chuanlai xu hua Kuang International Joint Research Laboratory for Biointerface and Biodetection and School of Food Science and TechnologyJiangnan UniversityWuxi 214122China

human epidermal growth factor receptor 2(HER2)is an important biomarker for detection and treatment of breast *** this study,we developed monoclonal antibodies against the extracellular domain(ECD)of HER2 and established a rapid and accurate lateral flow immunoassay(LFIA)for use in community medical *** gene sequence of human HER2-ECD was obtained from the National Center for Biotechnology Information(NCBI)to construct the expression ***2-ECD protein expressed in HEK293F cells was used to immunize BALB/c *** monoclonal antibodies were produced in mouse ascites and isolated by hybridoma cell *** were analyzed for purity by SDS-PAGE(sodium dodecyl sulphate-polyacrylamide gel-electrophoresis)and affinity was assessed by enzyme-linked immunosorbent assay(ELISA)while subtypes were detected using the commercial *** HER2-ECD test strip was prepared based on the sandwich method and evaluated using a portable detection *** affinity of the paired antibodies,4D8 and 8D9,both reached 1×108 L/*** antibodies specifically recognized the HER2-ECD protein in *** limit of detection(LOD)of the gold nanoparticle(AuNP)-based LFIA was 1.7 ng/mL with a detection range of 1.7-400 ng/mL,and the performance of the HER2-ECD strip correlated well with that of a Siemens chemiluminescent immunoassay(CLIA)*** conclusion,the paired antibodies were successfully prepared with high affinity and *** AuNP-based LFIA of HER2-ECD provides a fast and accurate method to detect the concentration of HER2-ECD in serum samples for clinical use in community medical institutions,and could contribute to determining the progress of the disease or the effectiveness of treatment.

关键词： human epidermal growth factor receptor 2 breast cancer monoclonal antibody quantitative lateral flow immunoassay

Femtosecond laser-induced nanoparticle implantation into flexible substrate for sensitive and reusable microfluidics SERS detection

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International Journal of Extreme Manufacturing 2024年第4期6卷 262-274页

作者： Yongxiang hu Yu Zhou Guohu Luo Dege Li Minni qu State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240People's Republic of China School of Mechanical and Power Engineering Nanjing Tech UniversityNanjing 211816People's Republic of China Center for Advanced Electronic Materials and Devices School of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240People's Republic of China

Surface-enhanced Raman spectroscopy(SERS)microfluidic system,which enables rapid detection of chemical and biological analytes,offers an effective platform to monitor various food contaminants and disease *** efficacy of SERS microfluidic systems is greatly dependent on the sensitivity and reusability of SERS detection substrates to ensure repeated use for prolonged *** study proposed a novel process of femtosecond laser nanoparticle array(NPA)implantation to achieve homogeneous forward transfer of gold NPA on a flexible polymer film and accurately integrated it within microfluidic chips for SERS *** implanted Au-NPA strips show a remarkable electromagnetic field enhancement with the factor of 9×108 during SERS detection of malachite green(MG)solution,achieving a detection limit lower than 10 ppt,far better than most laser-prepared SERS ***,Au-NPA strips show excellent reusability after several physical and chemical cleaning,because of the robust embedment of laser-implanted NPA in flexible *** demonstrate the performance of Au-NPA,a SERS microfluidic system is built to monitor the online oxidation reaction between MG/NaClO reactants,which helps infer the reaction *** proposed method of nanoparticle implantation is more effective than the direct laser structuring *** provides better performance for SERS detection,robustness of detection,and substrate flexibility and has a wider range of applications for microfluidic systems without any negative impact.

关键词： femtosecond laser-induced transfer nanoparticle array surface-enhanced Raman spectrum microfluidic system

Fault Analysis on AES:A Property-Based Verification Perspective

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Tsinghua Science and Technology 2024年第2期29卷 576-588页

作者： Xiaojie Dai Xingxin Wang xue qu Baolei Mao Wei hu School of Cybersecurity Northwestern Polytechnical UniversityXi’an 710072China School of Cyber Science and Engineering Zhengzhou UniversityZhengzhou 450001China

Fault analysis is a frequently used side-channel attack for ***,existing fault attack methods usually involve complex fault fusion analysis or computation-intensive statistical analysis of massive fault *** this work,we take a property-based formal verification approach to fault *** derive fine-grained formal models for automatic fault propagation and fusion,which establish a mathematical foundation for precise measurement and formal reasoning of fault *** extract the correlations in fault effects in order to create properties for fault *** further propose a method for key recovery,by formally checking when the extracted properties can be satisfied with partial keys as the search *** results using both unprotected and masked advanced encryption standard(AES)implementations show that our method has a key search complexity of 216,which only requires two correct and faulty ciphertext pairs to determine the secret key,and does not assume knowledge about fault location or pattern.

关键词： side-channel attack fault analysis fault propagation model property extraction fault verification