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Bionic soft robotic gripper with feedback control for adaptive grasping and capturing applications

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Frontiers of Mechanical Engineering 2024年第1期19卷 129-148页

作者： Tingke WU Zhuyong LIU Ziqi MA Boyang WANG Daolin MA Hexi YU department of Engineering Mechanics School of Ocean and Civil EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Ocean Engineering Shanghai Jiao Tong UniversityShanghai 200240China MOE Key Laboratory of Hydrodynamics Shanghai Jiao Tong UniversityShanghai 200240China

Robots are playing an increasingly important role in engineering *** robots have promising applications in several fields due to their inherent advantages of compliance,low density,and soft interactions.A soft gripper based on bio-inspiration is proposed in this *** analyze the cushioning and energy absorption mechanism of human fingertips in detail and provide insights for designing a soft gripper with a variable stiffness *** investigate the grasping modes through a large deformation modeling approach,which is verified through *** characteristics of the three grasping modes are quantified through testing and can provide guidance for robotics ***,the adaptability of the soft gripper is verified by grasping multi-scale and extremely soft ***,a cushioning model of the soft gripper is proposed,and the effectiveness of cushioning is verified by grasping extremely sharp objects and living ***,we validate the advantages of the variable stiffness of the soft gripper,and the results show that the soft robot can robustly complete assemblies with a gap of only 0.1 *** to the unstructured nature of the engineering environment,the soft gripper can be applied in complex environments based on the abovementioned experimental ***,we design the soft robotics system with feedback capture based on the inspiration of human catching *** feasibility of engineering applications is initially verified through fast capture experiments on moving *** design concept of this robot can provide new insights for bionic machinery.

关键词： soft bionic gripper variable stiffness structure large deformation modeling feedback control soft robotic system

miR-557 suppresses hepatocellular carcinoma cell proliferation and migration via downregulating CBX4

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BIOCELL 2024年第7期48卷 1071-1079页

作者： XULONG SUN WENTAO DING CHAO JIANG ZHIAN FANG department of Orthopedics Shanghai General HospitalShanghai Jiao Tong University School of MedicineShanghai200080China department of General Surgery Shanghai General HospitalShanghai Jiao Tong University School of MedicineShanghai200080China department of Thoracic Surgery Shanghai Chest HospitalShanghai Jiao Tong University School of MedicineShanghai200030China department of Radiology Zhongda HospitalSoutheast University School of MedicineNanjing210009China

Introduction:Hepatocellular carcinoma(HCC),a prevalent malignancy,poses signiﬁcant challenges with high tumor heterogeneity and poor ***(miRNAs)play a pivotal role in *** abnormalities in microRNA-557(miR-557)expression have been implicated in various cancer types,its role in HCC remains ***,there is a need to explore the function of microRNA-557 in ***:Candidate miRNAs were identiﬁed through screening in GSE108724 and ***-time PCR was employed to analyze the expression level of miR-557 in hepatoma cell lines and *** viability and migration assays were applied to assess the impact of miR-557 on HCC cell ***,the miR-557 target was predicted through three algorithms(Targetscan,miRWalk,and miRanda),and this was conﬁrmed through luciferase assay and Western ***:In this study,miR-557 was identiﬁed in two datasets and expressed at a low level in both hepatoma cell lines and ***,high expression of miR-557 in HCC cells inhibited ***,low expression of miR-557 enhanced tumor proliferation and *** chromobox 4(CBX4)was identiﬁed as a direct target of *** CBX4 inﬂuenced the functional impact of miR-557 on HCC cell ***:Taken together,our study contributed to elucidating the hepatoma molecular heterogeneity and provided novel insights into miR-557 role and its target CBX4 in HCC,suggesting its potential as a future effectively druggable target for HCC intervention.

关键词： Hepatocellular carcinoma miR-557 Chromobox 4 Hepatocarcinogenesis

Digital measuring the ocular morphological parameters of guinea pig eye in vivo with Python

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International Journal of Ophthalmology(English edition) 2024年第2期17卷 239-246页

作者： Yue Di Zhong-Bao Qiao Hai-Yun Ye Xin-Yue Li Wen-Ting Luo Wang-Yi Fang tong Qiao department of Ophthalmology Shanghai Children’s HospitalSchool of MedicineShanghai Jiao Tong UniversityShanghai 200062China

AIM:To quantitatively measure ocular morphological parameters of guinea pig with Python ***:Thirty-six eyeballs of eighteen 3-weekold guinea pigs were measured with keratometer and photographed to obtain the horizontal,coronal,and sagittal planes *** corresponding photo pixels-actual length ratio was acquired by a proportional *** edge coordinates were identified artificially by ginput *** and conic curve fitting were applied to fit the contour of the eyeball in the sagittal,coronal and horizontal *** curvature,curvature radius,eccentricity,tilt angle,corneal diameter,and binocular separation angle were calculated according to the geometric ***,the eyeballs were removed,canny edge detection was applied to identify the contour of eyeball in *** results were compared between in vivo and in ***:Regarding the corneal curvature and curvature radius on the horizontal and sagittal planes,no significant differences were observed among results in vivo,in vitro,and the *** horizontal and vertical binocular separation angles were 130.6°±6.39°and 129.8°±9.58°*** the corneal curvature radius and eccentricity in vivo,significant differences were observed between horizontal and vertical ***:The Graphical interface window of Python makes up the deficiency of edge detection,which requires too much definition in *** are significant differences between guinea pig and human beings,such as exotropic eye position,oblique oval eyeball,and obvious discrepancy of *** study helps evaluate objectively the ocular morphological parameters of small experimental animals in emmetropization research.

关键词： ocular morphological parameters guinea pig digital measurement Python

A Transformer-Assisted Cascade Learning Network for Choroidal Vessel Segmentation

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Journal of Computer Science & Technology 2024年第2期39卷 286-304页

作者：温阳吴依林毕磊石武祯刘潇骁许毓鹏许迅曹文明冯大淦 Guangdong Provincial Key Laboratory of Intelligent Information Processing School of Electronics and Information EngineeringShenzhen UniversityShenzhen 518060China Institute of Translational Medicine Shanghai Jiao Tong UniversityShanghai 200240China department of Ophthalmology Shanghai General HospitalShanghai Jiao Tong University School of MedicineShanghai 200080China School of Information Technologies The University of SydneySydney 2006Australia

As a highly vascular eye part,the choroid is crucial in various eye disease ***,limited research has focused on the inner structure of the choroid due to the challenges in obtaining sufficient accurate label data,particularly for the choroidal ***,the existing direct choroidal vessel segmentation methods for the intelligent diagnosis of vascular assisted ophthalmic diseases are still unsatisfactory due to noise data,while the synergistic segmentation methods compromise vessel segmentation performance for the choroid layer segmentation *** cascaded structures grapple with error propagation during *** address these challenges,we propose a cascade learning segmentation method for the inner vessel structures of the choroid in this ***,we propose TransformerAssisted Cascade Learning Network(TACLNet)for choroidal vessel segmentation,which comprises a two-stage training strategy:pre-training for choroid layer segmentation and joint training for choroid layer and choroidal vessel *** also enhance the skip connection structures by introducing a multi-scale subtraction connection module designated as MSC,capturing differential and detailed information ***,we implement an auxiliary Transformer branch named ATB to integrate global features into the segmentation *** results exhibit that our method achieves the state-of-the-art performance for choroidal vessel ***,we further validate the significant superiority of the proposed method for retinal fluid segmentation in optical coherence tomography(OCT)scans on a publicly available *** these fully prove that our TACLNet contributes to the advancement of choroidal vessel segmentation and is of great significance for ophthalmic research and clinical application.

关键词： choroidal vessel segmentation optical coherence tomography(OCT) Transformer-assisted cascade learning retinal fluid segmentation multi-scale feature extraction

Joint Transmit and Reflective Beamforming Design for Active IRS-Aided SWIPT Systems

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Chinese Journal of Electronics 2024年第2期33卷 536-548页

作者： Weiping SHI Qingqing WU Di WU Feng SHU Jiangzhou WANG School of Electronic and Optical Engineering Nanjing University of Science and Technology department of Electronic Engineering Shanghai Jiao Tong University School of Information and Communication Engineering Hainan University department of Automation Shanghai Jiao Tong University School of Engineering University of Kent

To further improve the performance of passive intelligent reflecting surface(IRS)-assisted communication systems and mitigate the serious path loss due to “double-fading ” of IRS-assisted links, an active IRS-aided simultaneous wireless information and power transfer(SWIPT) system is investigated. This paper jointly optimizes the transmit beamforming at the base station(BS) and the phase shifts at the active IRS in order to maximize the power collected by the energy harvesting receiver under both perfect and imperfect channel state information(CSI)states, subject to the signal-to-interference-noise ratio constraint of the information decoding receiver, and the power constraints of the BS/IRS. Under perfect CSI, the alternating optimization algorithm is utilized for obtaining the transmit beamforming at the BS and the phase shifts at the active IRS. For each subproblem, we first transform nonconvex objective function and constraints into convex ones by performing a first-order Taylor expansion. Then, each subproblem is solved by using the interior point method. Given that obtaining perfect CSI is impractical, two robust beamforming designs are proposed for imperfect CSI case. Under the bounded CSI error model, we first transform the non-convex optimization problem into two semidefinite programming subproblems, and then solve each subproblem based on S-procedure and sequential rank-one constraint relaxation(SROCR) techniques. Under the stochastic CSI error model, the alternating optimization method is applied in an iterative manner based on Bernstein-type inequality and SROCR technique. Simulation results show that both robust and non-robust schemes for active IRS-assisted SWIPT systems can achieve extremely superior performance over conventional passive IRS-assisted systems under the same overall power budget.

关键词： Wireless communication Semidefinite programming Array signal processing Simulation Stochastic processes Transforms Receivers

Detachable string magnetically controlled capsule endoscopy for the noninvasive diagnosis of esophageal diseases:A prospective,blind clinical study

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World Journal of Gastroenterology 2024年第9期30卷 1121-1131页

作者： Yan-Ling Yang Huang-Wen Qin Zhao-Yu Chen Hui-Ning Fan Yi Yu Wei Da Jin-Shui Zhu Jing Zhang department of Gastroenterology Shanghai Sixth People's Hospital Affiliated to Shanghai Jiao Tong University School of MedicineShanghai 200233China

BACKGROUND Traditional esophagogastroduodenoscopy(EGD),an invasive examination method,can cause discomfort and pain in *** contrast,magnetically controlled capsule endoscopy(MCE),a noninvasive method,is being applied for the detection of stomach and small intestinal diseases,but its application in treating esophageal diseases is not *** To evaluate the safety and efficacy of detachable string MCE(ds-MCE)for the diagnosis of esophageal *** Fifty patients who had been diagnosed with esophageal diseases were pros-pectively recruited for this clinical study and underwent ds-MCE and conven-tional *** primary endpoints included the sensitivity,specificity,positive predictive value,negative predictive value,and diagnostic accuracy of ds-MCE for patients with esophageal *** secondary endpoints consisted of visualizing the esophageal and dentate lines,as well as the subjects'tolerance of the *** Using EGD as the gold standard,the sensitivity,specificity,positive predictive value,negative predictive value,and diagnostic accuracy of ds-MCE for esophageal disease detection were 85.71%,86.21%,81.82%,89.29%,and 86%,***-MCE was more comfortable and convenient than EGD was,with 80%of patients feeling that ds-MCE examination was very comfortable or comfortable and 50%of patients believing that detachable string v examination was very *** This study revealed that ds-MCE has the same diagnostic effects as traditional EGD for esophageal diseases and is more comfortable and convenient than EGD,providing a novel noninvasive method for treating esophageal diseases.

关键词： Clinical trial Detachable string magnetically controlled capsule endoscopy Esophagogastroduodenoscopy Noninvasive diagnosis Esophageal diseases

Online Multi-Object Tracking Under Moving Unmanned Aerial Vehicle Platform Based on Object Detection and Feature Extraction Network

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Journal of shanghai jiaotong university(Science) 2024年第3期29卷 388-399页

作者：刘增敏王申涛姚莉秀蔡云泽 department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240China shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong UniversityShanghai 200240China JD Business Growth department Beijing 100176China Institute of Marine Equipment Shanghai Jiao Tong UniversityShanghai 200240China

In order to solve the problem of small object size and low detection accuracy under the unmanned aerial vehicle(UAV)platform,the object detection algorithm based on deep aggregation network and high-resolution fusion module is ***,a joint network of object detection and feature extraction is studied to construct a real-time multi-object tracking *** the problem of object association failure caused by UAV movement,image registration is applied to multi-object tracking and a camera motion discrimination model is proposed to improve the speed of the multi-object tracking *** simulation results show that the algorithm proposed in this study can improve the accuracy of multi-object tracking under the UAV platform,and effectively solve the problem of association failure caused by UAV movement.

关键词： moving unmanned aerial vehicle(UAV)platform small object feature extraction image registration multi-object tracking

Cone-beam computed tomography noise reduction method based on U-Net with convolutional block attention module in proton therapy

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Nuclear Science and Techniques 2024年第7期35卷 89-100页

作者： Xing-Yue Ruan Xiu-Fang Li Meng-Ya Guo Mei Chen Ming Lv Rui Li Zhi-Ling Chen shanghai Institute of applied Physics Chinese Academy of SciencesShanghai201800China university of Chinese Academy of Sciences Beijing100049China shanghai Advanced Research Institute Chinese Academy of SciencesShanghai201210China department of Radiation Oncology Ruijin HospitalShanghai Jiao Tong University School of MedicineShanghai200025China shanghai Key Laboratory of Proton therapy Shanghai201801China

Cone-beam computed tomography(CBCT) is mostly used for position verification during the treatment process. However,severe image artifacts in CBCT hinder its direct use in dose calculation and adaptive radiation therapy re-planning for proton therapy. In this study, an improved U-Net neural network named CBAM-U-Net was proposed for CBCT noise reduction in proton therapy, which is a CBCT denoised U-Net network with convolutional block attention modules. The datasets contained 20 groups of head and neck images. The CT images were registered to CBCT images as ground truth. The original CBCT denoised U-Net network, sCTU-Net, was trained for model performance comparison. The synthetic CT(SCT) images generated by CBAM-U-Net and the original sCTU-Net are called CBAM-SCT and U-Net-SCT images, respectively. The HU accuracies of the CT, CBCT, and SCT images were compared using four metrics: mean absolute error(MAE), root mean square error(RMSE), peak signal-to-noise ratio(PSNR), and structure similarity index measure(SSIM). The mean values of the MAE, RMSE, PSNR, and SSIM of CBAM-SCT images were 23.80 HU, 64.63 HU, 52.27 dB, and 0.9919, respectively,which were superior to those of the U-Net-SCT images. To evaluate dosimetric accuracy, the range accuracy was compared for a single-energy proton beam. The γ-index pass rates of a 4 cm × 4 cm scanned field and simple plan were calculated to compare the effects of the noise reduction capabilities of the original U-Net and CBAM-U-Net on the dose calculation results. CBAM-U-Net reduced noise more effectively than sCTU-Net, particularly in high-density tissues. We proposed a CBAM-U-Net model for CBCT noise reduction in proton therapy. Owing to the excellent noise reduction capabilities of CBAM-U-Net, the proposed model provided relatively explicit information regarding patient tissues. Moreover, it maybe be used in dose calculation and adaptive treatment planning in the future.

关键词： Proton therapy Cone-beam CT CBAM-U-Net γ-index

Population Dynamics in an Advective Environment

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Communications on applied mathematics and Computation 2024年第1期6卷 399-430页

作者： King-Yeung Lam Ray Lee Yuan Lou department of mathematics The Ohio State UniversityColumbusOH43210USA School of mathematical Sciences CMA-Shanghai and MOE-LSCShanghai Jiao Tong UniversityShanghai200240China

We consider a one-dimensional reaction-diffusion equation describing single-and two-species population dynamics in an advective environment,based on the modeling frameworks proposed by Lutscher et *** *** analyze the effect of rate of loss of individuals at both the upstream and downstream *** the single-species case,we prove the existence of the critical domain size and provide explicit formulas in terms of model *** further derive qualitative properties of the critical domain size and show that,in some cases,the critical domain size is either strictly decreasing over all diffusion rates,or monotonically increasing after first decreasing to a *** also consider competition between species differing only in their diffusion *** two species having large diffusion rates,we give a sufficient condition to determine whether the faster or slower diffuser wins the *** also briefly discuss applications of these results to competition in species whose spatial niche is affected by shifting isotherms caused by climate change.

关键词： Reaction-diffusion-advection Critical domain size Competition Climate change