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Control Evaluation of Antagonistic Series Elastic Actuation for a Robotic Endoscope joint

Journal of Bionic engineering 2022年第4期19卷 965-974页

作者： Lorin Fasel Nicolas Gerig Philippe C.Cattin Georg Rauter BIROMED-Lab Department of Biomedical EngineeringUniversity of Basel4123AllschwilSwitzerland CIAN Department of Biomedical EngineeringUniversity of Basel4123AllschwilSwitzerland

Haptic feedback is typically missing during telemanipulation of surgical robots in minimally invasive surgeries,i.e.,surgeons cannot feel the interaction forces between the instruments and ***,surgeons have to solely rely on visual feedback,which increases complexity of guiding the instruments and poses the safety threat of unperceivable contacts outside the field of *** propose a novel series elastic actuation design for articulated robotic endoscopes to overcome these limitations and evaluate an according device with one *** to the actuation of human fingers,the joint is driven by antagonistic *** are integrated in the transmission between the tendons and the motors outside of the endoscope *** estimated the joint angle and thereby the endoscope shape,measured spring deflection,estimated tendon forces from that deflection,and implemented force control for the endoscope *** torque control and impedance control were evaluated under application of both a continuous force and an impact force to the endoscope *** springs reduced impact forces at the tip of the endoscope through their inherent *** the same time,feeding back the estimated force resulted in a stable tendon force control and a tunable endoscope joint control:Zero torque control effectively reduced the external forces,while the endoscope joint showed the expected stiffness in impedance *** results show that antagonistic series elastic actuation is a promising concept for endoscope joint actuation and that it can lead towards safer robot–tissue interactions in surgical robotics.

关键词： Minimally invasive surgery RAMIS Robot-assisted surgery Haptic feedback Force control Tendon-driven robotics

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How Microbes Shape Their Communities? A Microbial Community Model Based on Functional Genes

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Genomics, Proteomics & Bioinformatics 2019年第1期17卷 91-105页

作者： Xiaoqing Jiang Xin Li Longshu Yang Chunhong Liu Qi Wang Weilai Chi Huaiqiu Zhu State Key Laboratory for Turbulence and Complex Systems Department of Biomedical Engineering College of Engineering Peking University Center for Quantitative Biology Peking University Peking University-Tsinghua University-National Institute of Biological Sciences joint Biological (PTN) PhD program and College of Life Sciences Peking University Center for Protein Science Peking University

Exploring the mechanisms of maintaining microbial community structure is important to understand biofilm development or microbiota dysbiosis. In this paper, we propose a functional gene-based composition prediction(FCP) model to predict the population structure composition within a microbial community. The model predicts the community composition well in both a low-complexity community as acid mine drainage(AMD) microbiota, and a complex community as human gut microbiota. Furthermore, we define community structure shaping(CSS) genes as functional genes crucial for shaping the microbial community. We have identified CSS genes in AMD and human gut microbiota samples with FCP model and find that CSS genes change with the conditions. Compared to essential genes for microbes, CSS genes are significantly enriched in the genes involved in mobile genetic elements, cell motility, and defense mechanisms, indicating that the functions of CSS genes are focused on communication and strategies in response to the environment factors. We further find that it is the minority, rather than the majority, which contributes to maintaining community structure. Compared to health control samples, we find that some functional genes associated with metabolism of amino acids, nucleotides, and lipopolysaccharide are more likely to be CSS genes in the disease group. CSS genes may help us to understand critical cellular processes and be useful in seeking addable gene circuitries to maintain artificial self-sustainable communities. Our study suggests that functional genes are important to the assembly of microbial communities.

关键词： Metagenomics Dynamics model Community structure Acid mine drainage Human gut microbiota

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Quickly obtaining densely dispersed coherent particles in steel matrix and its related mechanical property

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International Journal of Minerals,Metallurgy and Materials 2025年第1期32卷 111-118页

作者： Xiaoxiao Wang Qingsong Huang School of Chemical engineering Sichuan UniversityChengdu 610065China

Densely distributed coherent nanoparticles(DCN)in steel matrix can enhance the work-hardening ability and ductility of steel *** the routes to this end can be generally classified into the liquid-solid route and the solid-solid ***,the formation of DCN structures in steel requires long processes and complex *** far,obtaining steel with coherent particle enhancement in a short time remains a bottleneck,and some necessary steps remain ***,we show a high-efficiency liquid-phase refining process reinforced by a dynamic magnetic ***-Y-Mn-O particles had an average size of around(3.53±1.21)nm and can be obtained in just around 180 *** small nanoparticles were coherent with the matrix,implying no accumulated dislocations between the particles and the steel *** findings have a potential application for improving material machining capacity,creep resistance,and radiation resistance.

关键词： ferritic steels coherent particles microstructure compression test work hardening

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Hydrogen-bonded organic framework-ionic liquid composite quasisolid electrolyte for high-performance lithium battery

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Nano Research 2025年第1期18卷 332-340页

作者： Junmei Zhang Yatao Wu Chenye Wang Yong Liu Zhirong Yang Shiyue Zhou Wenpeng Li Wenjia Wu Jingtao Wang School of Chemical engineering Zhengzhou UniversityZhengzhou 450001China

Ionic liquids(ILs)hold great promise as highperformance electrolyte material due to their unique advantages including nonvolatility,high thermal stability and high ionic ***,the IL-based electrolytes always suffer from serious ion aggregation and high viscosity at low temperatures,leading to significantly decline in ionic ***,hydrogen-bonded organic framework-ionic liquid composite quasi-solid electrolyte(high temperature treatment(HT)-HOF-IL CQSE)was prepared through confining the IL electrolytes(ILEs)into the pore of HOF lamellar *** weak hydrogen bonding interactions within HOF nanosheets,together with the generated interactions between ILE and HOF,enable uniform and continuous distribution of ILE in HOF lamellar *** effectively inhibits the ion migration of ILE,which meanwhile serves as Li+transfer sites,affording high ionic conductivity of 5.7×10^(-5)S·cm-1 at-60 ℃,with high lithium-ion transference number of 0.69,whereas ILEs usually lose ionic conduction ability at such low *** assembled Li symmetrical cell can stably cycle at 0.2 mA·cm^(-2)and^(-2)0 ℃ for more than 1500 *** LiFePO_(4)|HT-HOF-IL CQSE|Li cell shows excellent cycling performance at 0.5 C at a wide temperature range of^(-2)0 to 60 ℃.This work may pave a new avenue for the development of high-performance IL-based composite electrolytes.

关键词： ionic liquid hydrogen-bonded organic framework low-temperature ionic conductivity lithium-ion transference number quasi-solid electrolyte

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Synthetic and nature-derived lipid nanoparticles for neural regeneration

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Neural Regeneration Research 2015年第5期10卷 689-690页

作者： Yuji S.Takeda Qiaobing Xu Department of biomedical engineering Tufts University

Challenges and opportunities in nerve regeneration： The central nervous system （CNS） has a limited ability to regen- erate. Subsequent to spinal injury, glial scar formation, creat- ed by fibroblasts, neuroglia, monocytes, and endothelial cells, inhibits regeneration of the injured nerve. The peripheral nervous system （PNS） has a greater regeneration potential than the CNS; however, the current gold standard of treat- ment for a large nerve defect is still autologous nerve grafts, which require multiple surgeries. For this reason, researchers have been trying to regenerate nervous tissues, including brain, spinal cord. and PeriPheral nerves, for decades.

关键词： Synthetic and nature-derived lipid nanoparticles for neural regeneration RVG RNA gene NGF

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Co-production of hydrogen, oxygen, and electricity via an integrated solar-driven system with decoupled water electrolyzer and Na-Zn ion battery

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Journal of Energy Chemistry 2025年第1期100卷 621-627页

作者： Fei Lv Longjie Liu Jiazhe Wu Pengfei Wang Lixia Pan Dengwei Jing Yubin Chen International Research Center for Renewable Energy State Key Laboratory of Multiphase Flow in Power Engineering Xi'an Jiaotong University

Combining water electrolysis and rechargeable battery technologies into a single system holds great promise for the co-production of hydrogen （H2） and ***,the design and development of such systems is still in its ***,an integrated hydrogen-oxygen （O2）-electricity co-production system featuring a bipolar membrane-assisted decoupled electrolyzer and a Na-Zn ion battery was established with sodium nickelhexacyanoferrate （NaNiHCF） and Zn2+/Zn as dual redox *** decoupled electrolyzer enables to produce H2and O2in different time and space with almost 100%Faradaic efficiency at 100 mA ***,the charged NaNiHCF and Zn electrodes after the electrolysis processes formed a Na-Zn ion battery,which can generate electricity with an average cell voltage of 1.75 V at 10 m A *** connecting Si photovoltaics with the modular electrochemical device,a well-matched solar driven system was built to convert the intermittent solar energy into hydrogen and electric energy with a solar to hydrogen-electricity efficiency of 16.7%,demonstrating the flexible storage and conversion of renewables.

关键词： Hydrogen Electricity Decoupled water electrolyzer Na-Zn ion battery Solar energy

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Laser light scattering technique for non-invasive in situ simultaneous measurements on elastic constants and viscosity coefficients of nematic liquid crystals

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Science China(Physics,Mechanics & Astronomy) 2004年第1期47卷 79-85页

作者： TU Mei HUANG Yaoxiong Institute of biomedical engineering Jinan University Guangzhou 510632 China Institute of Biomedical Engineering Jinan University Guangzhou 510632 China

The laser light scattering technique for non-invasivein situ simultaneous measurements on elastic constants and viscosity coefficients of nematic liquid crystals is introduced. By measuring the autocorrelation function of the scattered light from nematic liquid crystals at different scattering angles, the splay and twist elastic constantsK 11 andK 22 are obtained from the amplitudes of the autocorrelation function, and the viscosity coefficients ofη Splay andη Twist are determined using the viscoelastic ratiosK 11/η Splay andK 22 η Twist from the telaxation parameters of the two modes.

关键词： dynamic light scattering, nematic liquid crystal, elastic constants, viscosity coefficients.

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Transcription factors promote neural regeneration after spinal cord injury

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Neural Regeneration Research 2022年第11期17卷 2439-2440页

作者： Zachary Finkel Li Cai Department of biomedical engineering Rutgers University

Human spinal cord injury (SCI) results in locomotor and sensory disabilities,which severely affect the quality of *** restore function after SCI,it is necessary to repair and reconstruct the damaged local *** hurdles in neural regeneration include a limited level of neurogenesis in the adult spinal cord and an inflammatory microenvironment that inhibits neurogenesis and axon regeneration.

关键词： neural injury SCI

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New ionizable lipids reduce the lipid-to-mRNA ratio for base editing

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National Science Review 2024年第8期11卷 49-50页

作者： Shuliang Gao Qiaobing Xu Department of biomedical engineering Tufts University

CRISPR-Cas9-based genome editors are widely explored for the treatment of various diseases [1]. As part of CRISPR technology, base editors have been expanded to A-to-B (where ‘B’=G, C or T), T-to-S (where ‘S’=C or G),C-to-K (where ‘K’=G or T) and G-to-Y(where ‘Y’=C or T) conversions for generating precise site-specific point mutations without double-strand breaks(DSBs)[2].

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A novel method for evaluating tissue inhomogeneity in elastography

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Progress in Natural Science:Materials International 2006年第5期16卷 474-479页

作者： BAI Peirui, WAN Mingxi, WANG Supin, ZHANG Dachun and DANG Jun (Department of biomedical engineering, Xi’an Jiaotong University, Key Laboratory of biomedical Information engineering of Ministry of Education, Xi’an 710049, China) Department of biomedical engineering Xi' an Jiaotong University Key Laboratory of Biomedical Information Engineering of Ministry of Education Xi'an 710049 China

Based on the detection of differential Renyi information (DRI) of segmented pre- and post-compression radio-frequency (RF) echo signals, a novel method for evaluating tissue inhornogeneity in elastography prior to the cross-correlation operation is proposed. In vitro experiments were carried out to corroborate the performance of the DRI method. Experimental results illustrate that valuable insights into local tissue inhomogeneity can be obtained through analyzing the DRI curves of the echo segments, which can provide information to aid the study of strain estimation algorithm in elastography.

关键词： ultrasound elastography tissue compression tissue inhomogeneity time-frequency analysis Renyi information.

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