Wireless millirobots engineered to infiltrate intricate vascular networks within living organisms,particularly within constricted and confined spaces,hold immense promise for the future of medical treatments.However,w...Wireless millirobots engineered to infiltrate intricate vascular networks within living organisms,particularly within constricted and confined spaces,hold immense promise for the future of medical treatments.However,with their multifaceted and intricate designs,some robots often grapple with motion and functionality issues when confronted with tight spaces characterized by small cross-sectional dimensions.In this study,drawing inspiration from the high aspect ratio and undulating swimming patterns of snakes,a millimeter-scale,snake-like robot was designed and fabricated via a combination of extrusion-based four-dimensional(4D)printing and magnetic-responsive intelligent functional inks.A sophisticated motion control strategy was also developed,which enables the robots to perform various dynamic movements,such as undulating swimming,precise turns,graceful circular motions,and coordinated cluster movements,under diverse magnetic field variations.As a potential application,the snake robot can navigate and release drugs in a model coronary intervention vessel with tortuous channels and fluid filling.The novel design and promising applications of this snake robot are invaluable tools in future medical surgeries and interventions.展开更多
The integration of 3D-printed hydrogels in soft robotics enables the creation of flexible,adaptable,and biocompatible systems.Hydrogels,with their high-water content and responsiveness to stimuli,are suitable for actu...The integration of 3D-printed hydrogels in soft robotics enables the creation of flexible,adaptable,and biocompatible systems.Hydrogels,with their high-water content and responsiveness to stimuli,are suitable for actuators,sensors,and robotic systems that require safe interaction and precise manipulation.Unlike traditional techniques,3D printing offers enhanced capabilities in tailoring structural complexity,resolution,and integrated functionality,enabling the direct fabrication of hydrogel systems with programmed mechanical and functional properties.In this perspective,we explore the evolving role of 3D-printed hydrogels in soft robotics,covering their material composition,fabrication techniques,and diverse applications.We highlight advancements in hydrogel-based actuators,sensors,and robots,emphasizing their ability to perform intricate motions.In addition,we discuss challenges like mechanical robustness,scalability,and integration as well as the potential of hydrogels in soft robotics and explore future directions for their development.展开更多
Precise and robust three-dimensional object detection(3DOD)presents a promising opportunity in the field of mobile robot(MR)navigation.Monocular 3DOD techniques typically involve extending existing twodimensional obje...Precise and robust three-dimensional object detection(3DOD)presents a promising opportunity in the field of mobile robot(MR)navigation.Monocular 3DOD techniques typically involve extending existing twodimensional object detection(2DOD)frameworks to predict the three-dimensional bounding box(3DBB)of objects captured in 2D RGB images.However,these methods often require multiple images,making them less feasible for various real-time scenarios.To address these challenges,the emergence of agile convolutional neural networks(CNNs)capable of inferring depth froma single image opens a new avenue for investigation.The paper proposes a novel ELDENet network designed to produce cost-effective 3DBounding Box Estimation(3D-BBE)froma single image.This novel framework comprises the PP-LCNet as the encoder and a fast convolutional decoder.Additionally,this integration includes a Squeeze-Exploit(SE)module utilizing the Math Kernel Library for Deep Neural Networks(MKLDNN)optimizer to enhance convolutional efficiency and streamline model size during effective training.Meanwhile,the proposed multi-scale sub-pixel decoder generates high-quality depth maps while maintaining a compact structure.Furthermore,the generated depthmaps provide a clear perspective with distance details of objects in the environment.These depth insights are combined with 2DOD for precise evaluation of 3D Bounding Boxes(3DBB),facilitating scene understanding and optimal route planning for mobile robots.Based on the estimated object center of the 3DBB,the Deep Reinforcement Learning(DRL)-based obstacle avoidance strategy for MRs is developed.Experimental results demonstrate that our model achieves state-of-the-art performance across three datasets:NYU-V2,KITTI,and Cityscapes.Overall,this framework shows significant potential for adaptation in intelligent mechatronic systems,particularly in developing knowledge-driven systems for mobile robot navigation.展开更多
Soft robots have shown great advantages with simple structure,high degree of freedom,continuous deformation,and benign human-machine interaction.In the past decades,a variety of soft robots,including crawling,jumping,...Soft robots have shown great advantages with simple structure,high degree of freedom,continuous deformation,and benign human-machine interaction.In the past decades,a variety of soft robots,including crawling,jumping,swimming,and climbing robots,have been developed inspired by living creatures.However,most of the reported bionic soft robots have only a single mode of motion,which limits their practical application.Herein,we report a fully 3D printed crawling and flipping soft robot using liquid metal incorporated liquid crystal elastomer(LM-LCE)composite as the actuator.With the application of voltage,liquid metal works as the conductive Joule heating material to induce the contraction of the LCE layer.The bending angle of the LM-LCE composite actuator highly depends on the applied voltage.We further demonstrate that the soft robot can exhibit distinct moving behaviors,such as crawling or flipping,by applying different voltages.The fully 3D printed LM-LCE composite structure provides a strategy for the fast construction of soft robots with diverse motion modes.展开更多
The emergence of SARS-CoV-2 variants and drug-resistant mutants emphasizes the urgent need to develop novel antiviral agents.In the present study,we examined the therapeutic effect of the Chinese medicinal herb,Scutel...The emergence of SARS-CoV-2 variants and drug-resistant mutants emphasizes the urgent need to develop novel antiviral agents.In the present study,we examined the therapeutic effect of the Chinese medicinal herb,Scutellaria barbata D.Don(SBD),against SARS-CoV-2 infection both in vitro and in vivo.Using a viral replicon particle(VRP)-based mouse model of SARS-CoV-2 infection,our study revealed that SBD extracts can reduce viral load in mouse lungs and alleviate the viral induced pneumonia.In vitro antiviral determination further validated the direct acting antiviral efficacy of SBD extracts against SARS-CoV-2 replication.Mechanistic studies demonstrated that SBD can act against SARS-CoV2 replication by targeting both 3-chymotrypsin-like and papain-like cysteine proteases,via a combination of multiple active constituents.Moreover,SBD can modulate the host inflammation response in a bi-directional manner,which also contribute to the mitigation of viral induced acute lung injury.In summary,our study provides SBD as a promising therapeutic agent to combat SARS-CoV-2 infections that merit further development.展开更多
基金the National Natural Science Foundation of China(Nos.52105421 and 52373050)the Guangdong Provincial Natural Science Foundation,China(No.2022A1515011621)+1 种基金the Science and Technology Projects in Guangzhou,China(Nos.202102080330 and 2024A04J6446)the Fundamental Research Funds for the Central Universities,Sun Yat-sen University(No.22qntd0101).
文摘Wireless millirobots engineered to infiltrate intricate vascular networks within living organisms,particularly within constricted and confined spaces,hold immense promise for the future of medical treatments.However,with their multifaceted and intricate designs,some robots often grapple with motion and functionality issues when confronted with tight spaces characterized by small cross-sectional dimensions.In this study,drawing inspiration from the high aspect ratio and undulating swimming patterns of snakes,a millimeter-scale,snake-like robot was designed and fabricated via a combination of extrusion-based four-dimensional(4D)printing and magnetic-responsive intelligent functional inks.A sophisticated motion control strategy was also developed,which enables the robots to perform various dynamic movements,such as undulating swimming,precise turns,graceful circular motions,and coordinated cluster movements,under diverse magnetic field variations.As a potential application,the snake robot can navigate and release drugs in a model coronary intervention vessel with tortuous channels and fluid filling.The novel design and promising applications of this snake robot are invaluable tools in future medical surgeries and interventions.
基金supported by Singapore MOE Tier-2 Award MOE-T2EP50123-0015.
文摘The integration of 3D-printed hydrogels in soft robotics enables the creation of flexible,adaptable,and biocompatible systems.Hydrogels,with their high-water content and responsiveness to stimuli,are suitable for actuators,sensors,and robotic systems that require safe interaction and precise manipulation.Unlike traditional techniques,3D printing offers enhanced capabilities in tailoring structural complexity,resolution,and integrated functionality,enabling the direct fabrication of hydrogel systems with programmed mechanical and functional properties.In this perspective,we explore the evolving role of 3D-printed hydrogels in soft robotics,covering their material composition,fabrication techniques,and diverse applications.We highlight advancements in hydrogel-based actuators,sensors,and robots,emphasizing their ability to perform intricate motions.In addition,we discuss challenges like mechanical robustness,scalability,and integration as well as the potential of hydrogels in soft robotics and explore future directions for their development.
文摘Precise and robust three-dimensional object detection(3DOD)presents a promising opportunity in the field of mobile robot(MR)navigation.Monocular 3DOD techniques typically involve extending existing twodimensional object detection(2DOD)frameworks to predict the three-dimensional bounding box(3DBB)of objects captured in 2D RGB images.However,these methods often require multiple images,making them less feasible for various real-time scenarios.To address these challenges,the emergence of agile convolutional neural networks(CNNs)capable of inferring depth froma single image opens a new avenue for investigation.The paper proposes a novel ELDENet network designed to produce cost-effective 3DBounding Box Estimation(3D-BBE)froma single image.This novel framework comprises the PP-LCNet as the encoder and a fast convolutional decoder.Additionally,this integration includes a Squeeze-Exploit(SE)module utilizing the Math Kernel Library for Deep Neural Networks(MKLDNN)optimizer to enhance convolutional efficiency and streamline model size during effective training.Meanwhile,the proposed multi-scale sub-pixel decoder generates high-quality depth maps while maintaining a compact structure.Furthermore,the generated depthmaps provide a clear perspective with distance details of objects in the environment.These depth insights are combined with 2DOD for precise evaluation of 3D Bounding Boxes(3DBB),facilitating scene understanding and optimal route planning for mobile robots.Based on the estimated object center of the 3DBB,the Deep Reinforcement Learning(DRL)-based obstacle avoidance strategy for MRs is developed.Experimental results demonstrate that our model achieves state-of-the-art performance across three datasets:NYU-V2,KITTI,and Cityscapes.Overall,this framework shows significant potential for adaptation in intelligent mechatronic systems,particularly in developing knowledge-driven systems for mobile robot navigation.
基金supported by the National Key Research and Development Program of China(No.2023YFB3812500)the National Natural Science Foundation of China(No.52105003)+1 种基金Beijing Municipal Natural Science Foundation(No.2222058)Fundamental Research Funds for the Central Universities(No.YWF-22-K-101)。
文摘Soft robots have shown great advantages with simple structure,high degree of freedom,continuous deformation,and benign human-machine interaction.In the past decades,a variety of soft robots,including crawling,jumping,swimming,and climbing robots,have been developed inspired by living creatures.However,most of the reported bionic soft robots have only a single mode of motion,which limits their practical application.Herein,we report a fully 3D printed crawling and flipping soft robot using liquid metal incorporated liquid crystal elastomer(LM-LCE)composite as the actuator.With the application of voltage,liquid metal works as the conductive Joule heating material to induce the contraction of the LCE layer.The bending angle of the LM-LCE composite actuator highly depends on the applied voltage.We further demonstrate that the soft robot can exhibit distinct moving behaviors,such as crawling or flipping,by applying different voltages.The fully 3D printed LM-LCE composite structure provides a strategy for the fast construction of soft robots with diverse motion modes.
基金supported by the National Natural Science Foundation of China(82274204 and 82104134)the Natural Science Foundation of Shandong Province,China(ZR2024QH110)+1 种基金the Major Basic Program of Shandong Natural Science Foundation,China(ZR2021ZD17)the Project of Youth Innovation Team of Shandong Province(2022KJ254).
文摘The emergence of SARS-CoV-2 variants and drug-resistant mutants emphasizes the urgent need to develop novel antiviral agents.In the present study,we examined the therapeutic effect of the Chinese medicinal herb,Scutellaria barbata D.Don(SBD),against SARS-CoV-2 infection both in vitro and in vivo.Using a viral replicon particle(VRP)-based mouse model of SARS-CoV-2 infection,our study revealed that SBD extracts can reduce viral load in mouse lungs and alleviate the viral induced pneumonia.In vitro antiviral determination further validated the direct acting antiviral efficacy of SBD extracts against SARS-CoV-2 replication.Mechanistic studies demonstrated that SBD can act against SARS-CoV2 replication by targeting both 3-chymotrypsin-like and papain-like cysteine proteases,via a combination of multiple active constituents.Moreover,SBD can modulate the host inflammation response in a bi-directional manner,which also contribute to the mitigation of viral induced acute lung injury.In summary,our study provides SBD as a promising therapeutic agent to combat SARS-CoV-2 infections that merit further development.
