Teleoperation is of great importance in the area of robotics,especially when people are unavailable in the robot workshop.It provides a way for people to control robots remotely using human intelligence.In this paper,...Teleoperation is of great importance in the area of robotics,especially when people are unavailable in the robot workshop.It provides a way for people to control robots remotely using human intelligence.In this paper,a robotic teleoperation system for precise robotic manipulation is established.The data glove and the 7-degrees of freedom(DOFs)force feedback controller are used for the remote control interaction.The control system and the monitor system are designed for the remote precise manipulation.The monitor system contains an image acquisition system and a human-machine interaction module,and aims to simulate and detect the robot running state.Besides,a visual object tracking algorithm is developed to estimate the states of the dynamic system from noisy observations.The established robotic teleoperation systemis applied to a series of experiments,and high-precision results are obtained,showing the effectiveness of the physical system.展开更多
Research on cells and organ-like tissues is critical in the fields of molecular biology,genetic analysis,proteomics analysis,tissue engineering,and others.In recent years,advancements in precise cell manipulation tech...Research on cells and organ-like tissues is critical in the fields of molecular biology,genetic analysis,proteomics analysis,tissue engineering,and others.In recent years,advancements in precise cell manipulation technologies have made precise positioning and batch processing of cells feasible.Various methods are used for cell recognition,positioning,manipulation,and assembly,often introducing external fields such as electric,magnetic,acoustic,or optical fields into the liquid environment to interact with cells,applying forces to induce cell movement and rearrangement.Alternatively,three-dimensional(3D)bioprinting technology is employed for precise cell positioning and assembly.This review will comprehensively assess the status,principles,advantages,disadvantages,and prospects of these precise cell manipulation technologies,covering single-cell manipulation,multicellular assembly,and biological 3D printing techniques.展开更多
Parallel manipulator systems as promising precision devices are used widely in current researches. A novel large workspace flexure parallel manipulator system utilizing wide-range flexure hinges as passive joints is p...Parallel manipulator systems as promising precision devices are used widely in current researches. A novel large workspace flexure parallel manipulator system utilizing wide-range flexure hinges as passive joints is proposed in this paper, which can attain sub-micron-seale precision over the cubic centimeter motion range. This paper introduces the mechanical system architecture based on the wide-range flexure hinges, analyzes the kinematics via stiffness matrices, presents the control system configuration and control strategy, and finally gives the system performance test results.展开更多
Nanozymes are a unique class of nanomaterials that possess intrinsic enzymatic properties,exhibiting similar reaction kinetics to natural enzymes.As enzyme substitutes in various biomedical applications,nanozymes offe...Nanozymes are a unique class of nanomaterials that possess intrinsic enzymatic properties,exhibiting similar reaction kinetics to natural enzymes.As enzyme substitutes in various biomedical applications,nanozymes offer numerous advantages,including low cost,tunable catalytic activity,and exceptional stability.However,their catalytic activities are typically lower than those of natural enzymes,and the lack of precise control over their functional modulation limits their therapeutic potential.To address these challenges,the biomimetic and intelligent design of nanozymes has been introduced as a critical concept for enhancing their functionality.In this review,we will explore the importance of biomimetic design in the development of intelligent nanozymes.We will first introduce the foundational principles and strategies for their targeted design,followed by an overview of recent advances in the regulatory mechanisms and biomedical applications of intelligent nanozymes.Lastly,we will highlight the current limitations in this research field and propose future directions.With continued progress in biomimetic and intelligent design,nanozymes are poised to accelerate their clinical translation and large-scale commercialization,further expanding their potential in therapeutic applications.展开更多
Synthetic biology is an interdisciplinary field that combines engineering principles to design and construct new biological components,devices,and systems for understanding and reprogramming biological functions.This ...Synthetic biology is an interdisciplinary field that combines engineering principles to design and construct new biological components,devices,and systems for understanding and reprogramming biological functions.This field aims to create novel biological entities with specific functions or solutions to particular problems through precise manipulation of biomolecules and cells.Bladder cancer is a type of cancer that originates in the tissues of the urinary bladder and primarily affects the urothelial cells lining the bladder wall.Synthetic biology technology,while relatively new for the treatment of bladder cancer,has promising potential for providing innovative solutions for the detection,treatment,and management of bladder cancer.This article reviews the latest research progress in the field of synthetic biology applied to bladder cancer.This research focuses on the application of gene editing technologies such as CRISPR-CRISPR-associated protein 9 to precisely modify the genome of bladder cancer cells to inhibit their growth and proliferation.Additionally,it introduces methods for enhancing antitumor immune responses through the modification of immune cells,such as chimeric antigen receptor-T-cell therapy.Furthermore,this article explores the potential of the use of genetically engineered bacteria as an emerging treatment option for bladder cancer.Despite challenges such as targeting specificity,safety,and cost,synthetic biology technologies provide new perspectives and strategies for the treatment of bladder cancer.With continuous advancements in technology and strengthened interdisciplinary collaboration,the application of synthetic biology in bladder cancer treatment holds great promise,potentially offering patients new treatment options and hope.展开更多
In view of the problems of the existing mechanisms based on 2R open-chain planetary gear train for seedling transplanting,such as the bad tracking flexibility,low positioning accuracy,and high structure design difficu...In view of the problems of the existing mechanisms based on 2R open-chain planetary gear train for seedling transplanting,such as the bad tracking flexibility,low positioning accuracy,and high structure design difficulties of the mechanisms based on 3R open-chain planetary gear train for seedling manipulation.In this paper,a transplanting mechanism based on the solution domain synthesis of a 3R open-chain-based complete rotation kinematic pair,a gear train with a single cycle integral rotating pair,is designed.The Burmester curve equation is derived from the given transplanting trajectory and four exact poses corresponding to each other on the rotation center.Then,the open-chain road model of the 3R complete rotation kinematic pair is obtained under the constraint governed by the judgment condition of the hinge integral rotating pair.Meanwhile,combined with our developed in-house optimization software,the solution to the optimal parameters for the transplanting mechanism can be optimized according to the target trajectory.Finally,the feasibility of the design method is verified by transplanting testing,where kale seedlings with ages of about 20 d and heights of about 80-120 mm are used.The experimental results show that the actual motion trajectory of the prototype is basically identical to the theoretical trajectory,validating the feasibility of transplanting mechanism design,parts processing,and test-bed construction.Through the statistical analysis,the average success rate of transplanting is 90.625%,and the reliability of designed mechanism is satisfied.This study provides a promising solution for the seedling transplanting of two-planet scaffold pots.展开更多
基金NSFC-Shenzhen Robotics Research Center Project(No.U2013207)the Beijing Science and Technology Plan Project(No.Z191100008019008)。
文摘Teleoperation is of great importance in the area of robotics,especially when people are unavailable in the robot workshop.It provides a way for people to control robots remotely using human intelligence.In this paper,a robotic teleoperation system for precise robotic manipulation is established.The data glove and the 7-degrees of freedom(DOFs)force feedback controller are used for the remote control interaction.The control system and the monitor system are designed for the remote precise manipulation.The monitor system contains an image acquisition system and a human-machine interaction module,and aims to simulate and detect the robot running state.Besides,a visual object tracking algorithm is developed to estimate the states of the dynamic system from noisy observations.The established robotic teleoperation systemis applied to a series of experiments,and high-precision results are obtained,showing the effectiveness of the physical system.
基金National Natural Science Foundation of China,Grant/Award Numbers:52205312,52275200。
文摘Research on cells and organ-like tissues is critical in the fields of molecular biology,genetic analysis,proteomics analysis,tissue engineering,and others.In recent years,advancements in precise cell manipulation technologies have made precise positioning and batch processing of cells feasible.Various methods are used for cell recognition,positioning,manipulation,and assembly,often introducing external fields such as electric,magnetic,acoustic,or optical fields into the liquid environment to interact with cells,applying forces to induce cell movement and rearrangement.Alternatively,three-dimensional(3D)bioprinting technology is employed for precise cell positioning and assembly.This review will comprehensively assess the status,principles,advantages,disadvantages,and prospects of these precise cell manipulation technologies,covering single-cell manipulation,multicellular assembly,and biological 3D printing techniques.
文摘Parallel manipulator systems as promising precision devices are used widely in current researches. A novel large workspace flexure parallel manipulator system utilizing wide-range flexure hinges as passive joints is proposed in this paper, which can attain sub-micron-seale precision over the cubic centimeter motion range. This paper introduces the mechanical system architecture based on the wide-range flexure hinges, analyzes the kinematics via stiffness matrices, presents the control system configuration and control strategy, and finally gives the system performance test results.
基金supported by the National Natural Science Foundation of China(32301163,82122037)National Natural Science Foundation of China Joint Fund for Regional Innovation Development Project(U23A20522)+2 种基金the National Key Research and Development Program of China(2021YFA1201102)the Beijing Nova Program(Z211100002121023)Beijing Nova Program(Interdisciplinary Cooperation Project,20220484207)from the Beijing Municipal Science&Technology Commission.
文摘Nanozymes are a unique class of nanomaterials that possess intrinsic enzymatic properties,exhibiting similar reaction kinetics to natural enzymes.As enzyme substitutes in various biomedical applications,nanozymes offer numerous advantages,including low cost,tunable catalytic activity,and exceptional stability.However,their catalytic activities are typically lower than those of natural enzymes,and the lack of precise control over their functional modulation limits their therapeutic potential.To address these challenges,the biomimetic and intelligent design of nanozymes has been introduced as a critical concept for enhancing their functionality.In this review,we will explore the importance of biomimetic design in the development of intelligent nanozymes.We will first introduce the foundational principles and strategies for their targeted design,followed by an overview of recent advances in the regulatory mechanisms and biomedical applications of intelligent nanozymes.Lastly,we will highlight the current limitations in this research field and propose future directions.With continued progress in biomimetic and intelligent design,nanozymes are poised to accelerate their clinical translation and large-scale commercialization,further expanding their potential in therapeutic applications.
文摘Synthetic biology is an interdisciplinary field that combines engineering principles to design and construct new biological components,devices,and systems for understanding and reprogramming biological functions.This field aims to create novel biological entities with specific functions or solutions to particular problems through precise manipulation of biomolecules and cells.Bladder cancer is a type of cancer that originates in the tissues of the urinary bladder and primarily affects the urothelial cells lining the bladder wall.Synthetic biology technology,while relatively new for the treatment of bladder cancer,has promising potential for providing innovative solutions for the detection,treatment,and management of bladder cancer.This article reviews the latest research progress in the field of synthetic biology applied to bladder cancer.This research focuses on the application of gene editing technologies such as CRISPR-CRISPR-associated protein 9 to precisely modify the genome of bladder cancer cells to inhibit their growth and proliferation.Additionally,it introduces methods for enhancing antitumor immune responses through the modification of immune cells,such as chimeric antigen receptor-T-cell therapy.Furthermore,this article explores the potential of the use of genetically engineered bacteria as an emerging treatment option for bladder cancer.Despite challenges such as targeting specificity,safety,and cost,synthetic biology technologies provide new perspectives and strategies for the treatment of bladder cancer.With continuous advancements in technology and strengthened interdisciplinary collaboration,the application of synthetic biology in bladder cancer treatment holds great promise,potentially offering patients new treatment options and hope.
基金The authors acknowledge that this work was financially supported by the National Natural Science Foundation of China(Grant No.32071909,51975536)the Key Research Projects of Zhejiang Province(Grant No.2022C02002,2021C02021)+2 种基金the Basic Public Welfare Research Projects of Zhejiang Province(Grant No.LGN20E050006)the Shanghai Science and technology agricultural Development Project(2021 No 4-1)the General Project of Agriculture and Social Development in Hangzhou(Grant No.20201203B92).
文摘In view of the problems of the existing mechanisms based on 2R open-chain planetary gear train for seedling transplanting,such as the bad tracking flexibility,low positioning accuracy,and high structure design difficulties of the mechanisms based on 3R open-chain planetary gear train for seedling manipulation.In this paper,a transplanting mechanism based on the solution domain synthesis of a 3R open-chain-based complete rotation kinematic pair,a gear train with a single cycle integral rotating pair,is designed.The Burmester curve equation is derived from the given transplanting trajectory and four exact poses corresponding to each other on the rotation center.Then,the open-chain road model of the 3R complete rotation kinematic pair is obtained under the constraint governed by the judgment condition of the hinge integral rotating pair.Meanwhile,combined with our developed in-house optimization software,the solution to the optimal parameters for the transplanting mechanism can be optimized according to the target trajectory.Finally,the feasibility of the design method is verified by transplanting testing,where kale seedlings with ages of about 20 d and heights of about 80-120 mm are used.The experimental results show that the actual motion trajectory of the prototype is basically identical to the theoretical trajectory,validating the feasibility of transplanting mechanism design,parts processing,and test-bed construction.Through the statistical analysis,the average success rate of transplanting is 90.625%,and the reliability of designed mechanism is satisfied.This study provides a promising solution for the seedling transplanting of two-planet scaffold pots.
