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TrinityMag:A novel magnetically actuated miniature robot manipulating system with a human-scale workspace

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Science China(Technological Sciences) 2024年第11期67卷 3546-3558页

作者： LI Dong CHEN BinHan HUANG ChenYang xu Sheng WU XinYu xu tiantian Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China Key Laboratory of Biomedical Imaging Science and System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China

The development of the magnetic manipulating system is essential for applications of magnetically actuated miniature robots in biomedical practice,such as targeted therapy and precise ***,the workspaces of existing magnetic manipulating systems for miniature robots are mostly insufficient to manipulate miniature robots inside human *** present study proposes an innovative electromagnets-based manipulating system,TrinityMag,which can produce dynamic three-dimensional(3D)magnetic fields in a human-scale spherical workspace with a 2.6 m *** magnetic field of a single electromagnet is simulated,and a new calibration technic is designed based on deep learning ***,the arrangement of three electromagnets is optimized to produce maximal 3D arbitrary magnetic fields with limited ***,a target-tracking algorithm is developed so that the TrinityMag can track the miniature robot in real ***,the TrinityMag is validated in experiments to manipulate a soft millirobot to move in human-scale tortuous tracks with two types of *** maximum speed of the soft millirobot reaches 11.05 body length/*** work contributes to a significant increment in the workspace of the electromagnets-based manipulating system for miniature *** further expect that the TrinityMag could push the applications of miniature robots from laboratory to clinical practice.

关键词： magnetic manipulating system human-scale workspace magnetically actuated miniature robots

Multimodal Locomotion and Cargo Transportation of Magnetically Actuated Quadruped Soft Microrobots

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Cyborg and Bionic Systems 2022年第1期2022卷 12-21页

作者： Chenyang Huang Zhengyu Lai Xinyu Wu tiantian xu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for SocietyShenzhen 518055China University of Chinese Academy of Sciences Beijing 100049China

Untethered microrobots have attracted extensive attention due to their potential for biomedical applications and micromanipulation at the small *** microrobots are of great research importance because of their highly deformable ability to achieve not only multiple locomotion mechanisms but also minimal invasion to the ***,the existing microrobots are still limited in their ability to locomote and cross obstacles in unstructured environments compared to conventional legged *** provides much inspiration for developing miniature ***,we propose a bionic quadruped soft thin-film microrobot with a nonmagnetic soft body and 4 magnetic flexible *** quadruped soft microrobot can achieve multiple controllable locomotion modes in the external magnetic *** experiment demonstrated the robot’s excellent obstacle-crossing ability by walking on the surface with steps and moving in the bottom of a stomach model with *** particular,by controlling the conical angle of the external conical magnetic field,microbeads gripping,transportation,and release of the microrobot were *** the future,the quadruped microrobot with excellent obstacle-crossing and gripping capabilities will be relevant for biomedical applications and micromanipulation.

关键词： robot obstacle steps

Multifunctional N,S-doped and methionine functionalized carbon dots for on−off−on Fe^(3+)and ascorbic acid sensing,cell imaging,and fluorescent ink applying

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Nano Research 2023年第4期16卷 5401-5411页

作者： Zheng Yang tiantian xu Shaobing Zhang Hui Li Yali Ji Xiaodan Jia Jianli Li Key Laboratory of Synthetic and Natural Functional Molecule of the Ministry of Education College of Chemistry&Materials ScienceNorthwest UniversityXi’an 710127China College of Chemistry and Chemical Engineering Xi’an University of Science and TechnologyXi’an 710054China Key Laboratory of Coal Resources Exploration and Comprehensive Utilization Ministry of Land and ResourcesXi’an 710012China

Fluorescent carbon dots(CDs)have been identified as potential nanosensors and attracted tremendous research interests in wide areas including anti-counterfeiting,environmental and biological sensing and imaging in considering of the attractive optical *** this work,we present a CDs based fluorescent sensor from polyvinylpyrrolidone,citric acid,and methionine as precursors by hydrothermal *** selective quantifying of Fe^(3+)and ascorbic acid(AA)are based on the fluorescent on-off-on process,in which the fluorescent quenching is induced by the coordination of the Fe^(3+)on the surface of the CDs,while the fluorescence recovery is mainly attributed to redox reaction between Fe^(3+)and AA,breaking the coordination and bringing the fluorescence *** by the good water solubility and biocompatibility,significant photostability,superior photobleaching resistance as well as high selectivity,sensitivity,and interference immunity,which are constructed mainly from the N,S-doping and methionine surface functionalization,the CDs have not only been employed as fluorescence ink in multiple anticounterfeiting printing and confidential document writing or transmitting,but also been developed as promising fluorescence sensors in solution and solid by CDs doped test strips and hydrogels for effectively monitoring and removing of Fe^(3+)and AA in environmental aqueous *** CDs have been also implemented as effective diagnostic candidates for imaging and tracking of Fe^(3+)and AA in living cells,accelerating the understanding of their function and importance in related biological processes for the prevention and treatment specific diseases.

关键词： carbon dots fluorescent sensors Fe^(3+) ascorbic acid fluorescent ink message encryption

Study on Local Resistance of non-Newtonian Power Law Fluid in Elbow Pipes

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Journal of Thermal Science 2016年第3期25卷 287-291页

作者： ZHANG Hao xu tiantian ZHANG Xinxin WANG Yuxiang WANG Yuancheng LIU xueting School of Thermal Energy Engineering Shandong Jianzhu University Key Laboratory of Renewable Energy Utilization Technologies in Buildings Ministry of Education Department of Thermal Engineering University of Science and Technology Beijing

This paper focuses on the flow characteristic and local resistance of non-Newtonian power law fluid in a curved 90° bend pipe with circular cross-sections, which are widely used in industrial applications. By employing nu- merical simulation and theoretical analysis the properties of the flow and local resistance of power law fluid under different working conditions are obtained. To explore the change rule the experiment is carried out by changing the Reynolds number, the wall roughness and differcnt diameter ratio of elbow pipe. The variation of the local resistance coefficient with the Reynolds number, the diameter ratio and the wall roughness is presented comprehensively in the paper. The results show that the local resistance force coefficient hardly changes with Reynolds number of the power law fluid; the wall roughness has a significant impact on the local resistance coefficicnt. As the pipe wall roughness increasing, the coefficient of local resistance force will increase. The main reason of the influence of the roughness on the local resistance coefficient is the increase of the eddy current region in the power law fluid flow, which increases the kinetic energy dissipation of the main flow. This paper provides theoretical and numerical methods to understand the local resistance property of non-Newtonian power law fluid in elbow pipes.

关键词： non-Newtonian fluid Local resistance coefficient Reynolds number Bend diameter ratio Roughness

AB-Gen:Antibody Library Design with Generative Pre-trained Transformer and Deep Reinforcement Learning

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Genomics, Proteomics & Bioinformatics 2023年第5期21卷 1043-1053页

作者： Xiaopeng xu tiantian xu Juexiao Zhou Xingyu Liao Ruochi Zhang Yu Wang Lu Zhang Xin Gao Computational Bioscience Research Center(CBRC) King Abdullah University of Science and TechnologyThuwal 23955-6900Saudi Arabia State Key Laboratory of Structural Chemistry Fujian Institute of Research on the Structure of MatterChinese Academy of SciencesFuzhou 350002China University of Chinese Academy of Sciences Beijing 100049China Syneron Technology Guangzhou 510000China Fujian Provincial Key Laboratory of Theoretical and Computational Chemistry Fuzhou 361005China

Antibody leads must fulfill multiple desirable properties to be clinical *** due to the low throughput in the experimental procedure,the need for such multiproperty optimization causes the bottleneck in preclinical antibody discovery and development,because addressing one issue usually causes *** developed a reinforcement learning(RL)method,named AB-Gen,for antibody library design using a generative pre-trained transformer(GPT)as the policy network of the RL *** showed that this model can learn the antibody space of heavy chain complementarity determining region 3(CDRH3)and generate sequences with similar property ***,when using human epidermal growth factor receptor-2(HER2)as the target,the agent model of AB-Gen was able to generate novel CDRH3 sequences that fulfill multi-property ***,509 generated sequences were able to pass all property filters,and three highly conserved residues were *** importance of these residues was further demonstrated by molecular dynamics simulations,consolidating that the agent model was capable of grasping important information in this complex optimization ***,the ABGen method is able to design novel antibody sequences with an improved success rate than the traditional propose-then-filter *** has the potential to be used in practical antibody design,thus empowering the antibody discovery and development *** source code of AB-Gen is freely available at Zenodo(https://***/10.5281/zenodo.7657016)and BioCode(https://***/biocode/tools/BT007341).

关键词： Protein design Transformer Reinforcement learning Generative modeling Multi-objective optimization

Numerical investigation on fire-induced indoor and outdoor air pollutant dispersion in an idealized urban street canyon

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Building Simulation 2022年第4期15卷 597-614页

作者： Shengzhong Zhao Haoran Yang Chaorui Li Imad Obadi Fei Wang Wenjun Lei tiantian xu Miaocheng Weng School of Thermal Engineering Shandong Jianzhu UniversityJinanChina School of Architecture Design and PlanningThe University of SydneySydneyAustralia School of Civil Engineering Chongqing UniversityChongqingChina

Fire-induced pollutant dispersion under the influence of buoyancy in urban street canyons has attracted wide attention given its adverse impact on human *** study analyzes the influences of fire source location and crossflowing wind(perpendicular to the canyon centerline)on indoor and outdoor air pollutant dispersion in an idealized urban street canyon by employing large eddy *** fire scenarios are defined according to the transverse location of the fire source:near the windward building(scenario 1),in the middle of the canyon(scenario 2),and near the leeward building(scenario 3).Results show that a re-entrainment phenomenon appears when the wind velocity reaches a critical value in scenarios 1 and 2,but it doesn't occur in scenario *** source location significantly influences the critical re-entrainment *** critical velocity in scenario 1 is approximate 1.2-1.5 m/s larger than that in scenario *** the heat release rate is large,the critical Fr numbers are less sensitive to changes in HRR,and remain approximately constant with values of 0.47(scenario 1)and 0.37(scenario 2).When the wind velocity is large,more compartments are expected to be affected in the upper floors in all of the three scenarios,and smoke is distributed in an inverted triangle within the *** indoor/outdoor temperature and pollutant concentrations are also *** findings can provide valuable information for both human and property safety in relation to urban street canyons and their surrounding buildings.

关键词： air pollutant dispersion fire smoke street canyon critical re-entrainment velocity fire source location

Discovery of a small molecule inhibitor of cullin neddylation that triggers ER stress to induce autophagy

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Acta Pharmaceutica Sinica B 2021年第11期11卷 3567-3584页

作者： Yanan Li Chaorong Wang tiantian xu Peichen Pan Qing Yu Lei xu Xiufang Xiong Tingjun Hou Sunliang Cui Yi Sun Cancer Institute of the 2nd Affiliated Hospital and Institute of Translational Medicine Zhejiang University School of MedicineHangzhou 310029China Cancer Center Zhejiang UniversityHangzhou 310012China College of Pharmaceutical Sciences Zhejiang UniversityHangzhou 310058China Institute of Bioinformatics and Medical Engineering School of Electrical and Information EngineeringJiangsu University of TechnologyChangzhou 212013China

Protein neddylation is catalyzed by a three-enzyme cascade,namely an E1 NEDD8-activating enzyme(NAE),one of two E2 NEDD8 conjugation enzymes and one of several E3 NEDD8 *** physiological substrates of neddylation are the family members of cullin,the scaffold component of cullin RING ligases(CRLs).Currently,a potent E1 inhibitor,MLN4924,also known as pevonedistat,is in several clinical trials for anti-cancer *** we report the discovery,through virtual screening and structural modifications,of a small molecule compound HA-1141 that directly binds to NAE in both in vitro and in vivo assays and effectively inhibits neddylation of cullins 1 ***,unlike MLN4924,HA-1141 also triggers non-canonical endoplasmic reticulum(ER)stress and PKR-mediated terminal integrated stress response(ISR)to activate ATF4 at an early stage,and to inhibit protein synthesis and mTORC1 activity at a later stage,eventually leading to autophagy ***,HA-1141 suppresses growth and survival of cultured lung cancer cells and tumor growth in in vivo xenograft lung cancer models at a well-tolerated *** together,our study has identified a small molecule compound with the dual activities of blocking neddylation and triggering ER stress,leading to growth suppression of cancer cells.

关键词： Autophagy Cullin RING ligase ER stress mTORC1 Neddylation Small molecule inhibitor

Darboux Transformation and New Multi-Soliton Solutions of the Whitham-Broer-Kaup System

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Applied Mathematics 2015年第1期6卷 20-27页

作者： tiantian xu College of Science University of Shanghai for Science and Technology Shanghai China

Through a variable transformation, the Whitham-Broer-Kaup system is transformed into a parameter Levi system. Based on the Lax pair of the parameter Levi system, the N-fold Darboux transformation with multi-parameters is constructed. Then some new explicit solutions for the Whitham-Broer-Kaup system are obtained via the given Darboux transformation.

关键词： Whitham-Broer-Kaup Equation Levi Parameter System Lax Pair Darboux Transformation Soliton Solutions

Tumor-targeted delivery of siRNA to silence Sox2 gene expression enhances therapeutic response in hepatocellular carcinoma

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Bioactive Materials 2021年第5期6卷 1330-1340页

作者： Yu Xia Guoyi Tang Yi Chen Changbing Wang Min Guo tiantian xu Mingqi Zhao Yongjian Zhou Department of Gastroenterology and Hepatology Guangzhou Digestive Disease CenterGuangzhou First People’s HospitalSchool of MedicineSouth China University of TechnologyGuangzhou510180China Central Laboratory Guangzhou Institute of PediatricsGuangzhou Women and Children’s Medical CenterGuangzhou Medical UniversityGuangzhou510120China Department of Obstetrics Gynecology Guangzhou Women and Children’s Medical CenterGuangzhou Medical UniversityGuangzhou510120China

RNA interference(RNAi)is one of the most promising methods for the treatment of malignant ***,developing an efficient biocompatible delivery vector for small interfering RNA(siRNA)remains a challenging *** study aimed to prepare a non-viral tumor-targeted carrier,named RGDfC-modified functionalized selenium nanoparticles(RGDfC-SeNPs).RGDfC-SeNPs were used to selectively deliver siSox2 to HepG2 liver cancer cells and tissues for the treatment of hepatocellular carcinoma(HCC).In the current study,RGDfC-SeNPs were successfully synthesized and *** was shown that RGDfC-SeNPs could effectively load siSox2 to prepare an antitumor prodrug RGDfC-Se@***-Se@siSox2 exhibited selective uptake in HepG2 liver cancer cells and LO2 normal liver cells,indicating RGDfC-SeNPs could effectively deliver siSox2 to HepG2 liver cancer ***-Se@siSox2 entered HepG2 cells via clathrin-mediated endocytosis by firstly encircling the cytoplasm and then releasing siSox2 in the ***-Se@siSox2 could effectively silence Sox2 and inhibit the proliferation,migration and invasion of HepG2 ***-Se@siSox2 induced HepG2 cells apoptosis most likely via overproduction of reactive oxygen species and disruption of the mitochondrial membrane *** importantly,RGDfC-Se@siSox2 significantly inhibited the tumor growth in HepG2 tumor-bearing mice without obvious toxic side *** studies indicated that RGDfC-SeNPs may be an ideal gene carrier for delivering siSox2 to HepG2 cells and that RGDfC-Se@siSox2 may be a novel and highly specific gene-targeted prodrug therapy for HCC.

关键词： Nanoparticle Cancer Gene therapy siRNA delivery Sox2