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Recent Developments in Metallic Degradable Micromotors for Biomedical and Environmental Remediation Applications

Nano-Micro Letters 2024年第3期16卷 1-35页

作者： Sourav Dutta Seungmin Noh Roger Sanchis Gual Xiangzhong Chen Salvador Pané Bradley J.Nelson Hongsoo Choi Department of robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu 42988Republic of Korea DGIST‑ETH Microrobotics Research center DGISTDaegu 42988Republic of Korea Multi‑Scale robotics Lab Institute of Robotics and Intelligent SystemsETH Zurich8092 ZurichSwitzerland Institute of Optoelectronics State Key Laboratory of Photovoltaic Science and TechnologyShanghai Frontiers Science Research Base of Intelligent Optoelectronics and PerceptionFudan UniversityShanghai 200433People’s Republic of China

Synthetic micromotor has gained substantial attention in biomedicine and environmental ***-based degradable micromotor composed of magnesium(Mg),zinc(Zn),and iron(Fe)have promise due to their nontoxic fuel-free propulsion,favorable biocompatibility,and safe excretion of degradation products Recent advances in degradable metallic micromotor have shown their fast movement in complex biological media,efficient cargo delivery and favorable biocompatibility.A noteworthy number of degradable metal-based micromotors employ bubble propulsion,utilizing water as fuel to generate hydrogen *** novel feature has projected degradable metallic micromotors for active in vivo drug delivery *** addition,understanding the degradation mechanism of these micromotors is also a key parameter for their design and *** propulsion efficiency and life span govern the overall performance of a degradable metallic *** we review the design and recent advancements of metallic degradable ***,we describe the controlled degradation,efficient in vivo drug delivery,and built-in acid neutralization capabilities of degradable micromotors with versatile biomedical ***,we discuss micromotors’efficacy in detecting and destroying environmental ***,we address the limitations and future research directions of degradable metallic micromotors.

关键词： Magnesium Zinc Iron Biodegradable microrobot Biomedical Environmental

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Game theory based finite-time formation control using artificial potentials for tethered space net robot

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Chinese Journal of Aeronautics 2024年第8期37卷 358-372页

作者： Yifeng MA Yizhai ZHANG Panfeng HUANG Ya LIU Fan ZHANG The Research center for intelligent robotics School of AstronauticsNorthwestern Polytechnical UniversityXi’an 710072China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong UniversityShanghai 200240China

The Tethered Space Net Robot(TSNR)is an innovative solution for active space debris capture and *** large envelope and simple capture method make it an attractive option for this ***,capturing maneuverable debris with the flexible and elastic underactuated net poses significant *** address this,a novel formation control method for the TSNR is proposed through the integration of differential game theory and robust adaptive control in this ***,the trajectory of the TSNR is obtained through the solution of a real-time feedback pursuit-evasion game with a dynamic target,where the primary condition is to ensure the stability of the ***,to minimize tracking errors and maintain a specific configuration,a robust adaptive formation control scheme with Artificial Potential Field(APF)based on a Finite-Time Convergent Extended State Observer(FTCESO)is *** proposed control method has a key advantage in suppressing complex oscillations by a new adaptive law,thus precisely maintaining the ***,numerical simulations are performed to demonstrate the effectiveness of the proposed scheme.

关键词： Game theory Formation control Artificial potential field Relative distance constraint Tethered space net robot(TSNR)

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Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom

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Chinese Journal of Mechanical Engineering 2024年第1期37卷 160-175页

作者： Ya Liu Wenjuan Lu Dabao Fan Weijian Tan Bo Hu Daxing Zeng School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China School of Mechanical Engineering Dongguan University of TechnologyDongguan 523808China Dongguan Engineering Technology Research center for Parallel Robot Dongguan 523808China The DGUT Innovation center of robotics and intelligent Equipment Dongguan 523808China

The current parallel ankle rehabilitation robot(ARR)suffers from the problem of difficult real-time alignment of the human-robot joint center of rotation,which may lead to secondary injuries to the *** study investigates type synthesis of a parallel self-alignment ankle rehabilitation robot(PSAARR)based on the kinematic characteristics of ankle joint rotation center drift from the perspective of introducing"suitable passive degrees of freedom(DOF)"with a suitable number and ***,the self-alignment principle of parallel ARR was proposed by deriving conditions for transforming a human-robot closed chain(HRCC)formed by an ARR and human body into a kinematic suitable constrained system and introducing conditions of"decoupled"and"less limb".Second,the relationship between the self-alignment principle and actuation wrenches(twists)of PSAARR was analyzed with the velocity Jacobian matrix as a"bridge".Subsequently,the type synthesis conditions of PSAARR were ***,a PSAARR synthesis method was proposed based on the screw theory and type of PSAARR synthesis ***,an HRCC kinematic model was established to verify the self-alignment capability of the *** this study,93 types of PSAARR limb structures were synthesized and the self-alignment capability of a human-robot joint axis was verified through kinematic analysis,which provides a theoretical basis for the design of such an ARR.

关键词： Ankle rehabilitation robot Self-alignment Parallel mechanism Type synthesis Screw theory

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Efficient Dynamic Locomotion of Quadruped Robot via Adaptive Diagonal Gait

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Journal of Bionic Engineering 2024年第1期21卷 126-136页

作者： Jian Bi Teng Chen Xuewen Rong Guoteng Zhang Guanglin Lu Jingxuan Cao Han Jiang Yibin Li The center for robotics School of Control Science and EngineeringShandong UniversityJi Nan 250000China

Quadruped animals in the nature realize high energy efficiency locomotion by automatically changing their gait at different *** by this character,an efficient adaptive diagonal gait locomotion controller is designed for quadruped robot.A unique gait planning method is proposed in this *** the speed of robot varies,the gait cycle time and the proportion of stance and swing phase of each leg are adjusted to form a variety of *** optimal joint torque is calculated by the controller combined with Virtual Model Control(VMC)and Whole-Body Control(WBC)to realize the desired *** gait and step frequency of the robot can automatically adapt to the change of *** experiments are done with a quadruped robot made by our laboratory to verify that the gait can change automatically from slow-trotting to flying-trot during the period when speed is from 0 to 4 m/*** ratio of swing phase is from less than 0.5 to more than 0.5 to realize the running motion with four feet off the *** have shown that the controller can indeed consume less energy when robot runs at a wide range of speeds comparing to the basic controller.

关键词： Quadruped robot Gait transition Adaptive gait Energy efficiency

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Hydrogel bioadhesives harnessing nanoscale phase separation for Achilles tendon repairing

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Nano Research 2024年第2期17卷 778-787页

作者： Jun Zhang Xingmei Chen Jingseng Lin Pei Zhang Iek Man Lei Yue Tao Jiajun Zhang Tian Luo Ji Liu Department of Mechanical and Energy Engineering Southern University of Science and TechnologyShenzhen 518055China Research and Innovation center SKG Health TechnologyShenzhen 518000China SAFE(Shenzhen)Medical Technology Company Limited Shenzhen 518000China Shenzhen Key Laboratory of Biomimetic robotics and intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation robotics in Universities Southern University of Science and TechnologyShenzhen 518055China

Repairing Achilles tendon has emerged as a long-standing challenge in the orthopaedic *** suture is the gold standard for re-attaching and repairing the fractured Achilles tendons in clinical surgeries,it is still subjected to numerous adverse side-effects,including chronic inflammatory,tendon tissue re-rupture,scar formation,and post-surgical peritendinous *** this work,we develop a class of hydrogel bioadhesives with tailored nanoscale phase separation for Achilles tendon *** address the existing limitations of sutures,our hydrogel bioadhesives encompass three core functionalities:(i)instant and tough adhesion to Achilles tendon tissues,(ii)extraordinary long-term adhesion robustness under wet and dynamic in vivo conditions,and(iii)anti-postsurgical peritendinous *** our hydrogel bioadhesives with sutures,such kind of integrated approach enables a conformable yet robust biointerface with the tendon tissues,and prevents the fibroblast migration and formation of connective tissues,thus facilitating the tendon *** hydrogel bioadhesives reported here open up new opportunities for the repairing of fractured Achilles tendons in diverse and complicated clinical scenarios.

关键词： hydrogels phase separation bioadhesion robustness tendon repairing

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Optimization of center of Gravity Position and Anti-Wave Plate Angle of Amphibious Unmanned Vehicle Based on Orthogonal Experimental Method

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Computer Modeling in Engineering & Sciences 2024年第5期139卷 2027-2041页

作者： Deyong Shang Xi Zhang Fengqi Liang Chunde Zhai Hang Yang Yanqi Niu School of Mechanical Electronic&Information EngineeringChina University of Mining and Technology(Beijing)Beijing100083China Institute of intelligent Mining&robotics China University of Mining and Technology(Beijing)Beijing100083China

When the amphibious vehicle navigates in water,the angle of the anti-wave plate and the position of the center of gravity greatly influence the navigation *** the relevant research on reducing the navigation resistance of amphibious vehicles by adjusting the angle of the anti-wave plate,there is a lack of scientific selection of parameters and reasonable research of simulation results by using mathematical methods,and the influence of the center of gravity position on navigation characteristics is not considered at the same *** study the influence of the combinations of the angle of the anti-wave plate and the position of the center of gravity on the resistance reduction characteristics,a numerical calculation model of the amphibious unmanned vehicle was established by using the theory of computational fluid dynamics,and the experimental data verified the correctness of the numerical *** on this numerical model,the navigation characteristics of the amphibious unmanned vehicle were studied when the center of gravity was located at different positions,and the orthogonal experimental design method was used to optimize the parameters of the angle of the anti-wave plate and the position of the center of *** results show that through the parameter optimization analysis based on the orthogonal experimental method,the combination of the optimal angle of the anti-wave plate and the position of the center of gravity is *** the numerical simulation result of resistance is consistent with the predicted optimal *** with the maximum navigational resistance,the parameter optimization reduces the navigational resistance of the amphibious unmanned vehicle by 24%.

关键词： Amphibious unmanned vehicle orthogonal experimental design anti-wave plate center of gravity resistance characteristic

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SGT-Net: A Transformer-Based Stratified Graph Convolutional Network for 3D Point Cloud Semantic Segmentation

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Computers, Materials & Continua 2024年第6期79卷 4471-4489页

作者： Suyi Liu Jianning Chi Chengdong Wu Fang Xu Xiaosheng Yu Faculty of Robot Science and Engineering Northeastern UniversityShenyang110167China State Key Laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China Institutes for robotics and intelligent Manufacturing Chinese Academy of SciencesShenyang110169China SIASUN Robot&Automation Co. Ltd.Shenyang110169China

In recent years,semantic segmentation on 3D point cloud data has attracted much *** 2D images where pixels distribute regularly in the image domain,3D point clouds in non-Euclidean space are irregular and inherently ***,it is very difficult to extract long-range contexts and effectively aggregate local features for semantic segmentation in 3D point cloud *** current methods either focus on local feature aggregation or long-range context dependency,but fail to directly establish a global-local feature extractor to complete the point cloud semantic segmentation *** this paper,we propose a Transformer-based stratified graph convolutional network(SGT-Net),which enlarges the effective receptive field and builds direct long-range ***,we first propose a novel dense-sparse sampling strategy that provides dense local vertices and sparse long-distance vertices for subsequent graph convolutional network(GCN).Secondly,we propose a multi-key self-attention mechanism based on the Transformer to further weight augmentation for crucial neighboring relationships and enlarge the effective receptive *** addition,to further improve the efficiency of the network,we propose a similarity measurement module to determine whether the neighborhood near the center point is *** demonstrate the validity and superiority of our method on the S3DIS and ShapeNet *** ablation experiments and segmentation visualization,we verify that the SGT model can improve the performance of the point cloud semantic segmentation.

关键词： 3D point cloud semantic segmentation long-range contexts global-local feature graph convolutional network dense-sparse sampling strategy

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Hemispherical resonator with low subsurface damage machined by small ball-end fine diamond grinding wheel:A novel grinding technique

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Chinese Journal of Aeronautics 2024年第5期37卷 570-585页

作者： Biao QIN Henan LIU Jian CHENG Jinchuan TIAN Jiangang SUN Zihan ZHOU Chuanzhen MA Mingjun CHEN State Key Laboratory of robotics and System Harbin Institute of TechnologyHarbin 150001China center for Precision Engineering Harbin Institute of TechnologyHarbin 150001China

As for the ultra-precision grinding of the hemispherical fused silica resonator,due to the hard and brittle nature of fused silica,subsurface damage(SSD)is easily generated,which enormously influences the performance of such ***,ultra-precision grinding experiments are carried out to investigate the surface/subsurface quality of the hemispherical resonator machined by the small ball-end fine diamond grinding *** influence of grinding parameters on the surface roughness(SR)and SSD depth of fused silica samples is then *** experimental results indicate that the SR and SSD depth decreased with the increase of grinding speed and the decrease of feed rate and grinding *** addition,based on the material strain rate and the maximum undeformed chip thickness,the effect of grinding parameters on the subsurface damage mechanism of fused silica samples is ***,a multi-step ultra-precision grinding technique of the hemispherical resonator is proposed based on the interaction influence between grinding depth and feed ***,the hemispherical resonator is processed by the proposed grinding technique,and the SR is improved from 454.328 nm to 110.449 nm while the SSD depth is reduced by 94%from 40μm to 2.379μ*** multi-step grinding technique proposed in this paper can guide the fabrication of the hemispherical resonator.

关键词： Fused silica Ultra-precision grinding Hemispherical resonator Subsurface damage Grinding technique

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State of the art in movement around a remote point:a review of remote center of motion in robotics

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Frontiers of Mechanical Engineering 2024年第2期19卷 1-28页

作者： Wuxiang ZHANG Zhi WANG Ke MA Fei LIU Pengzhi CHENG Xilun DING School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China Ningbo Institute of Technology Beihang UniversityNingbo 315832China intelligent Aerospace Manufacturing Engineering Technology Co. Ltd.Beijing 100191China

The concept of remote center of motion(RCM)is pivotal in a myriad of robotic applications,encompa-ssing areas such as medical robotics,orientation devices,and exoskeletal *** efficacy of RCM technology is a determining factor in the success of these robotic *** paper offers an exhaustive review of RCM technologies,elaborating on their various methodologies and practical *** delves into the unique characteristics of RCM across different degrees of freedom(DOFs),aiming to distill their fundamental *** addition,this paper categorizes RCM approaches into two primary classifications:design based and control *** are further organized according to their respective DOFs,providing a concise summary of their core *** upon the understanding of RCM’s versatile capabilities,this paper then transitions to an in-depth exploration of its applications across diverse robotic *** this review,we critically analyze the existing research challenges and issues that are inherently present in both RCM methodologies and their *** discussion is intended to serve as a guiding framework for future research endeavors and practical deployments in related areas.

关键词： remote center of motion mechanism robotics medical robot orientation device exoskeleton

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Dynamic adaptive spatio-temporal graph network for COVID-19 forecasting

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CAAI Transactions on Intelligence Technology 2024年第3期9卷 769-786页

作者： Xiaojun Pu Jiaqi Zhu Yunkun Wu Chang Leng Zitong Bo Hongan Wang Institute of Software Chinese Academy of Sciences BeijingChina Ecovacs robotics Co. Ltd.SuzhouJiangsuChina Automotive Software Innovation center ChongqingChina

Appropriately characterising the mixed space-time relations of the contagion process caused by hybrid space and time factors remains the primary challenge in COVID-19 ***,in previous deep learning models for epidemic forecasting,spatial and temporal variations are captured separately.A unified model is developed to cover all spatio-temporal ***,this measure is insufficient for modelling the complex spatio-temporal relations of infectious disease transmission.A dynamic adaptive spatio-temporal graph network(DASTGN)is proposed based on attention mechanisms to improve prediction *** DASTGN,complex spatio-temporal relations are depicted by adaptively fusing the mixed space-time effects and dynamic space-time dependency *** dual-scale model considers the time-specific,space-specific,and direct effects of the propagation process at the fine-grained ***,the model characterises impacts from various space-time neighbour blocks under time-varying interventions at the coarse-grained *** performance comparisons on the three COVID-19 datasets reveal that DASTGN achieves state-of-the-art results with a maximum improvement of 17.092%in the root mean-square error and 11.563%in the mean absolute *** results indicate that the mechanisms of designing DASTGN can effectively detect some spreading characteristics of *** spatio-temporal weight matrices learned in each proposed module reveal diffusion patterns in various *** conclusion,DASTGN has successfully captured the dynamic spatio-temporal variations of COVID-19,and considering multiple dynamic space-time relationships is essential in epidemic forecasting.

关键词： adaptive COVID-19 forecasting dynamic intervention spatio-temporal graph neural networks

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