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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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An efficient stiffness analysis model based on shear deformation theory for flexible skin shear variable-sweep wing

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Chinese Journal of Aeronautics 2024年第10期37卷 445-458页

作者： Yue BAI Guang YANG Hong XIAO Hongwei GUO Rongqiang LIU Bei LIU State Key Laboratory of robotics and System Harbin Institute of TechnologyHarbin 150001China China Aerodynamics research and Development Center Institute of High-Speed AerodynamicsMianyang 621000China

Fixed-wing aircraft cannot maintain optimal aerodynamic performance at different flight *** a type of morphing aircraft,the shear variable-sweep wing(SVSW)can dramatically improve its aerodynamic performance by altering its shape to adapt to various flight *** order to achieve smooth continuous shear deformation,SVSW’s skin adopts a flexible composite skin design instead of traditional aluminum alloy ***,this also brings about the non-linear difficulty in stiffness modeling and *** this research,a new SVSW design and efficient stiffness modeling method are *** on shear deformation theory,the flexible composite skin is equivalently modeled as diagonally arranged nonlinear springs,simulating the elastic force interaction between the skin and the *** shear loading tests of flexible composite skin,the accuracy of this flexible composite skin modeling method is *** SVSW stiffness model was established,and its accuracy was verified through static loading *** effects of root connection,sweep angles,and flexible composite skin on the SVSW stiffness are ***,considering three typical flight conditions of SVSW:low-speed flow(Ma=0.3,Re=5.8210^(6)),transonic flow(Ma=0.9,Re=3.4410^(6)),and supersonic flow(Ma=3,Re=7.5110^(6)),the stiffness characteristics of SVSW under flight conditions were *** calculated results guide the application of SVSW.

关键词： Shear variable-sweep wing(SVSW) Flexible composite skin Morphing mechanism Stiffness analysis Loading tests Structure

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Modular-integrative modeling: a new framework for building brain models that blend biological realism and functional performance

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National Science Review 2024年第5期11卷 13-16页

作者： Mario Senden Sacha J.van Albada Giovanni Pezzulo Egidio Falotico Ibrahim Hashim Alexander Kroner Anno C.Kurth Pablo Lanillos Vaishnavi Narayanan Cyriel Pennartz Mihai A.Petrovici Lea Steffen Tonio Weidler Rainer Goebel Department of Cognitive Neuroscience Maastricht University Maastricht Brain Imaging Centre Maastricht University institute of Neuroscience and Medicine(INM-6) and institute for Advanced Simulation(IAS-6) and JARA-Institut Brain Structure-Function Relationships(INM-10) Jülich Research Center institute of Zoology University of Cologne institute of Cognitive Sciences and Technologies The Bio robotics institute Scuola Superiore Sant'Anna RWTH Aachen University Donders institute for Brain Cognition and BehaviorRadboud University Cognitive and Systems Neuroscience Group Swammerdam Institute for Life Sciences University of Amsterdam Department of Physiology University of Bern FZI research Center of Information Technology

To cope with the immense complexity of the brain, neuroscientific research often focuses on isolated brain structures or circumscribed perceptual, cognitive or motor functions [1]. This reductionist approach overlooks the intricate and multifaceted interplay among various structural and functional *** instance, even simple movements require the coordinated activation of numerous neuronal populations across multiple brain regions [2].

关键词： WORLD SURVEY PROJECTS

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SMA-origami coupling:online configuration switches and stability property modulation

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International Journal of Smart and Nano Materials 2024年第1期15卷 21-41页

作者： Hai Zhou Hongbin Fang Zuolin Liu Jian Xu School of Aerospace Engineering and Applied Mechanics Tongji UniversityShanghaiChina institute of AI and robotics Fudan UniversityShanghaiChina Yiwu research institute Fudan UniversityYiwuZhejiangChina

Active folding is a crucial requirement for practical applications of multi-stable origami ***,research on integrating active materials with origami structures to enable quick configuration switching and modulation of stability properties is still in its early *** advance the state-of-the-art,we designed a coupled structure comprising a stacked Miura-origami(SMO)structure and two Shape Memory Alloy(SMA)*** actuator is used for extruding the SMO structure while the other is used for retracting,thereby realizing bidirectional reversible active folding of the coupled *** the potential energy of the coupled structure shows that it can be switched between monostable and bistable by heating the SMA *** above findings are also confirmed by experiments conducted on a delicate SMO-SMA coupled structure *** activation of different actuators induces rapid configuration switching of the coupled structure,and the stability profile is qualitatively adjusted by designing the current loading profile to achieve steady-state temperature ***,this study provides a new approach to coupling origami structures with smart materials for active folding and presents a novel method to regulate the stability property of origami structures,thus promoting their practical applications.

关键词： Multistability bistable origami active folding smart material

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Model Predictive Control based Motion Cueing Algorithm for Driving Simulator

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Journal of Systems Science and Systems Engineering 2024年第5期33卷 607-626页

作者： Ayesha Hameed Ali Soltani Sharif Abadi Andrzej Ordys institute of Automatic Control and robotics Warsaw University of TechnologyWarsawPoland institute of Electronic Systems Warsaw University of TechnologyWarsawPoland

Thanks to the emerging integration of algorithms and simulators, recent Driving Simulators (DS) find enormous potential in applications like advanced driver-assistance devices, analysis of driver’s behaviours, research and development of new vehicles and even for entertainment purposes. Driving simulators have been developed to reduce the cost of field studies, allow more flexible control over circumstances and measurements, and safely present hazardous conditions. The major challenge in a driving simulator is to reproduce realistic motions within hardware constraints. Motion Cueing Algorithm (MCA) guarantees a realistic motion perception in the simulator. However, the complex nature of the human perception system makes MCA implementation challenging. The present research aims to improve the performance of driving simulators by proposing and implementing the MCA algorithm as a control problem. The approach is realized using an actual vehicle model integrated with a detailed model of the human vestibular system, which accurately reproduces the driver’s perception. These perception motion signals are compared with simulated ones. A 2-DOF stabilized platform model is used to test the results from the two proposed control strategies, Proportional Integrator and Derivative (PID) and Model Predictive Control (MPC).

关键词： Driving simulator motion cueing algorithm control theory model predictive control PID

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Design methodology,synthesis,and control strategy of the high-speed planetary rover

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Frontiers of Mechanical Engineering 2024年第2期19卷 59-74页

作者： Renchao LU Haibo GAO Zhen LIU Runze YUAN Zongquan DENG State Key Laboratory of robotics and Systems Harbin Institute of TechnologyHarbin 150001China

The planned missions to explore the surfaces of the Moon and Mars require high exploration efficiency,thus imposing new demands on the mobility system of planetary *** this paper,a design method for a high-speed planetary rover(HPR)is proposed,and the representative configurations are modeled and ***,the influence of the planetary surface environment on the design of HPRs is analyzed,and the design factors for HPRs are determined by studying a single-wheel ***,a design methodology for HPRs is *** adaptive suspension mechanisms of a four-wheeled rover are synthesized using the all-wheel-attachment condition and position and orientation characteristics theory,which are expressed in the form of a graph theory for the increase in elastic components and active ***,a dynamic model is built,and a simulation is carried out for the proposed *** validity of the proposed method and rover is verified,thus highlighting their potential application in future planetary exploration.

关键词： design methodology spectrum analysis high-speed planetary rover type synthesis

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Establishment of Constraint Relation of Robot Dynamics Equation Based on Kinematic Influence Coefficients Method

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Journal of Shanghai Jiaotong university(Science) 2024年第3期29卷 450-456页

作者：徐亚茹李克鸿商新娜金晓明刘荣张建成 Beijing Engineering research Center of Smart Mechanical Innovation Design Service Beijing Union UniversityBeijing 100027China College of robotics Beijing Union UniversityBeijing 100020China robotics institute Beihang UniversityBeijing 100191China

Due to the diversity of work requirements and environment,the number of degrees of freedom(DOFs)and the complexity of structure of industrial robots are constantly *** is difficult to establish the accurate dynamical model of industrial robots,which greatly hinders the realization of a stable,fast and accurate trajectory tracking ***,the general expression of the constraint relation in the explicit dynamic equation of the multi-DOF industrial robot is derived on the basis of solving the Jacobian matrix and Hessian matrix by using the kinematic influence coefficients ***,an explicit dynamic equation with general constraint relation expression is established based on the Udwadia-Kalaba *** problem of increasing the time of establishing constraint relationship when the multi-DOF industrial robots complete complex task constraints is *** the SCARA robot as the research object,the simulation results show that the proposed method can provide a new idea for industrial robot system modeling with complex constraints.

关键词： industrial robot constraint relationship kinematic influence coefficients method Jacobian matrix Hessian matrix

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cognition and movement in neurodegenerative disorders:a dynamic duo

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Neural Regeneration research 2024年第10期19卷 2101-2102页

作者： Marit F.L.Ruitenberg Department of Health Medical and NeuropsychologyLeiden UniversityLeidenthe Netherlands Leiden institute for Brain and cognition Leidenthe Netherlands

People with neurodegenerative disorders often experience problems across a variety of functional domains,including cognition,movement,and psychosocial *** classification of these disorders is based on the phenotypical manifestations that represent the most prominent clinical *** example,Parkinson's disease and Huntington's disease are typically regarded as movement disorders,whereas Alzheimer's disease(AD) and other dementias are regarded as cognitive disorders.

关键词： disorders Huntington degenerative

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Intuitive Human-Robot-Environment Interaction With EMG Signals:A Review

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1075-1091页

作者： Dezhen Xiong Daohui Zhang Yaqi Chu Yiwen Zhao Xingang Zhao State Key Laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 institutes for robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169 University of Chinese Academy of Sciences Beijing 100049China

A long history has passed since electromyography(EMG)signals have been explored in human-centered robots for intuitive ***,it still has a gap between scientific research and real-life *** studies mainly focused on EMG decoding algorithms,leaving a dynamic relationship between the human,robot,and uncertain environment in real-life scenarios seldomly *** fill this gap,this paper presents a comprehensive review of EMG-based techniques in human-robot-environment interaction(HREI)*** general processing framework is summarized,and three interaction paradigms,including direct control,sensory feedback,and partial autonomous control,are ***-based intention decoding is treated as a module of the proposed *** key issues involving precision,stability,user attention,compliance,and environmental awareness in this field are *** important directions,including EMG decomposition,robust algorithms,HREI dataset,proprioception feedback,reinforcement learning,and embodied intelligence,are proposed to pave the way for future *** the best of what we know,this is the first time that a review of EMG-based methods in the HREI system is *** provides a novel and broader perspective to improve the practicability of current myoelectric interaction systems,in which factors in human-robot interaction,robot-environment interaction,and state perception by human sensations are considered,which has never been done by previous studies.

关键词： robot summarized Robot

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Versatile strategies for adult neurogenesis:avenues to repair the injured brain

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Neural Regeneration research 2024年第4期19卷 774-780页

作者： Junyi Zhao Siyu Liu Xianyuan Xiang Xinzhou Zhu The Brain cognition and Brain Disease institute(BCBDI) Shenzhen Institute of Advanced TechnologyChinese Academy of Sciences Faculty of Life and Health Sciences Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences Shenzhen-Hong Kong institute of Brain Science-Shenzhen Fundamental research Institutions

Brain injuries due to trauma or stroke are major causes of adult death and ***,few interventions are effective for post-injury repair of brain *** a long debate on whether endogenous neurogenesis actually happens in the adult human brain,there is now substantial evidence to support its *** neurogenesis is usually significantly stimulated by injury,the reparative potential of endogenous differentiation from neural stem/progenitor cells is usually ***,exogenous stem cell transplantation has shown promising results in animal models,but limitations such as poor long-term survival and inefficient neuronal differentiation make it still challenging for clinical ***,a high focus was placed on glia-to-neuron conversion under single-factor *** some inspiring results,the validity of this strategy is still *** this review,we summarize historical findings and recent advances on neurogenesis strategies for neurorepair after brain *** also discuss their advantages and drawbacks,as to provide a comprehensive account of their potentials for further studies.

关键词： adult neurogenesis glia-to-neuron conversion ischemic stroke neurogenic niche neuroinflammation stem cell transplantation traumatic brain injury

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