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
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
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
Trapping and manipulating microscopic particles(micron or nano)in a liquid environment are of great significance for research and applications in nanoscience,engineering,and biomedicine.Although optical tweezers,magne...Trapping and manipulating microscopic particles(micron or nano)in a liquid environment are of great significance for research and applications in nanoscience,engineering,and biomedicine.Although optical tweezers,magnetic tweezers,acoustic tweezers,etc.have been successfully developed,it is still challenging to separate,select,and manipulate micron and submicron particles with comparable morphologies and sizes in trace amounts of liquids with high viscosity and extremely tiny concentrations.Herein,an electric tweezer with measurable force was introduced in an environmental transmission electron microscope(ETEM)for trapping a single submicron particle in high viscosity liquids.The critical voltages for trapping SiO_(2)and TiO_(2)spheres were determined to be 75 V and 25 V,respectively,due to their dielectric characteristics.As a result,although TiO_(2)particles exhibited a similar size and morphology,they were able to be successfully separated from a mixed suspension of SiO_(2)and TiO_(2).Moreover,by applying a reasonable bias voltage to the electric tweezer and customizing the size and shape of the tweezer tip,individual 500,750,and 1000 nm TiO_(2)spheres could be easily trapped from the corresponding TiO_(2)suspension.The displacements of atomic force microscope(AFM)cantilevers indicated that the forces to trapped a single particle gradually increased with the diameter of the particles.Additionally,the electric tweezer could precisely manipulate a single particle,and stack a specific structure on the top of the electric tweezer.When the electric tweezer was combined with an optical microscope,it could successfully transfer a 5μm SiO_(2)sphere to a HeLa cell.Precisely trapping and manipulating micron and submicron particles is the foundation for fabricating microdevices to achieve specific functions,and it also show great potential for use in biological applications.展开更多
The energy barrier for the rate-determining step(RDS)is exceptionally critical for the catalytic oxygen evolution reaction(OER)efficiency of an electrocatalyst;however,facilely decreasing the energy barrier of RDS and...The energy barrier for the rate-determining step(RDS)is exceptionally critical for the catalytic oxygen evolution reaction(OER)efficiency of an electrocatalyst;however,facilely decreasing the energy barrier of RDS and realizing the precise manipulation of the reaction process remains challenging.Herein,through constructing a nanosheet assembled sunflower-like Co(OH)_(2) with Ir,Fe codoping,the electronic structure and binding strengths with oxygen-involved intermediates of Co active sites are considerably moderated.First-principles calculations and comprehensive characterizations suggest that Fe and Ir codoping significantly lowers the electrochemical reaction barrier and promotes the OER reaction kinetics by precisely accelerating the formation process of*O.Moreover,the nanosheet-assembled open architectures enable the catalyst with plentiful catalytically active sites and facilitate mass transport and electron transfer.As a result,the optimal electrocatalyst can exhibit outstanding oxygen-evolving activity with an ultralow overpotential of 254 mV at 10 mA cm^(-2).This study realizes the precise manipulation of the reaction energy barrier of OER via Ir,Fe dual doping,which will be a generic paradigm for designing advanced yet cost-effective electrocatalysts.展开更多
Biomedical micro/nanorobots(MNRs)have emerged as a cutting-edge research field,offering novel strategies for precise in vivo manipulation and targeted therapeutic delivery.By harnessing external energy sources,such as...Biomedical micro/nanorobots(MNRs)have emerged as a cutting-edge research field,offering novel strategies for precise in vivo manipulation and targeted therapeutic delivery.By harnessing external energy sources,such as chemical fuels,magnetic fields,light,acoustic waves,and biohybrid designs,these miniature intelligent systems achieve efficient autonomous navigation through complex biological environments while overcoming the physical limitations of conventional medical technologies.Current research focuses on material innovation,motion control,biocompatibility,and functional integration.These efforts have led to advances in disease treatment,barrier penetration,diagnostic imaging,wound healing,and minimally invasive procedures.However,clinical translation remains hindered by critical hurdles such as long-term biosafety,stable energy supply,high-resolution real-time tracking,and scalable manufacturing.This review systematically summarizes recent advancements in MNR research,with a particular emphasis on material-level innovations in both artificially synthesized and naturally derived systems.It provides an in-depth analysis of their unique capabilities in overcoming biological barriers and performing precise tasks in vivo.Furthermore,the review highlights pioneering diagnostic-therapeutic integration and outlines forward-looking strategies to accelerate clinical adoption.Specifically,we contend that future progress must converge advances in smart responsive materials,multiphysics cooperative actuation,and artificial intelligence-assisted guidance systems to overcome existing limitations in microscale in vivo operation.By offering a synthesized perspective and a clear roadmap,this review aims to steer next-generation MNR research toward practical applications in personalized medicine,regenerative therapies,and intelligent theranostics,thereby fostering a paradigm shift in biomedical technology.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.
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.
基金financially supported by the National Natural Science Foundation of China(Nos.52372293,52471018)the S&T Program of Hebei(Nos.B2023203037,B2024203054)+1 种基金the Science Research Project of Hebei Education Department(No.JZX2024022)Central Guidance Fund for Local Science and Technology Development Project(No.246Z1101G)。
文摘Trapping and manipulating microscopic particles(micron or nano)in a liquid environment are of great significance for research and applications in nanoscience,engineering,and biomedicine.Although optical tweezers,magnetic tweezers,acoustic tweezers,etc.have been successfully developed,it is still challenging to separate,select,and manipulate micron and submicron particles with comparable morphologies and sizes in trace amounts of liquids with high viscosity and extremely tiny concentrations.Herein,an electric tweezer with measurable force was introduced in an environmental transmission electron microscope(ETEM)for trapping a single submicron particle in high viscosity liquids.The critical voltages for trapping SiO_(2)and TiO_(2)spheres were determined to be 75 V and 25 V,respectively,due to their dielectric characteristics.As a result,although TiO_(2)particles exhibited a similar size and morphology,they were able to be successfully separated from a mixed suspension of SiO_(2)and TiO_(2).Moreover,by applying a reasonable bias voltage to the electric tweezer and customizing the size and shape of the tweezer tip,individual 500,750,and 1000 nm TiO_(2)spheres could be easily trapped from the corresponding TiO_(2)suspension.The displacements of atomic force microscope(AFM)cantilevers indicated that the forces to trapped a single particle gradually increased with the diameter of the particles.Additionally,the electric tweezer could precisely manipulate a single particle,and stack a specific structure on the top of the electric tweezer.When the electric tweezer was combined with an optical microscope,it could successfully transfer a 5μm SiO_(2)sphere to a HeLa cell.Precisely trapping and manipulating micron and submicron particles is the foundation for fabricating microdevices to achieve specific functions,and it also show great potential for use in biological applications.
基金supported by the start-up funding to H.Xu from Changzhou University(ZMF22020055)grants from Advanced Catalysis and Green Manufacturing Collaborative Innovation Center(ACGM2022-10-01),Changzhou University.
文摘The energy barrier for the rate-determining step(RDS)is exceptionally critical for the catalytic oxygen evolution reaction(OER)efficiency of an electrocatalyst;however,facilely decreasing the energy barrier of RDS and realizing the precise manipulation of the reaction process remains challenging.Herein,through constructing a nanosheet assembled sunflower-like Co(OH)_(2) with Ir,Fe codoping,the electronic structure and binding strengths with oxygen-involved intermediates of Co active sites are considerably moderated.First-principles calculations and comprehensive characterizations suggest that Fe and Ir codoping significantly lowers the electrochemical reaction barrier and promotes the OER reaction kinetics by precisely accelerating the formation process of*O.Moreover,the nanosheet-assembled open architectures enable the catalyst with plentiful catalytically active sites and facilitate mass transport and electron transfer.As a result,the optimal electrocatalyst can exhibit outstanding oxygen-evolving activity with an ultralow overpotential of 254 mV at 10 mA cm^(-2).This study realizes the precise manipulation of the reaction energy barrier of OER via Ir,Fe dual doping,which will be a generic paradigm for designing advanced yet cost-effective electrocatalysts.
基金supported by the National Natural Science Foundation of China(52573295)Guangdong Basic and Applied Basic Research Foundation(2024A1515030080).
文摘Biomedical micro/nanorobots(MNRs)have emerged as a cutting-edge research field,offering novel strategies for precise in vivo manipulation and targeted therapeutic delivery.By harnessing external energy sources,such as chemical fuels,magnetic fields,light,acoustic waves,and biohybrid designs,these miniature intelligent systems achieve efficient autonomous navigation through complex biological environments while overcoming the physical limitations of conventional medical technologies.Current research focuses on material innovation,motion control,biocompatibility,and functional integration.These efforts have led to advances in disease treatment,barrier penetration,diagnostic imaging,wound healing,and minimally invasive procedures.However,clinical translation remains hindered by critical hurdles such as long-term biosafety,stable energy supply,high-resolution real-time tracking,and scalable manufacturing.This review systematically summarizes recent advancements in MNR research,with a particular emphasis on material-level innovations in both artificially synthesized and naturally derived systems.It provides an in-depth analysis of their unique capabilities in overcoming biological barriers and performing precise tasks in vivo.Furthermore,the review highlights pioneering diagnostic-therapeutic integration and outlines forward-looking strategies to accelerate clinical adoption.Specifically,we contend that future progress must converge advances in smart responsive materials,multiphysics cooperative actuation,and artificial intelligence-assisted guidance systems to overcome existing limitations in microscale in vivo operation.By offering a synthesized perspective and a clear roadmap,this review aims to steer next-generation MNR research toward practical applications in personalized medicine,regenerative therapies,and intelligent theranostics,thereby fostering a paradigm shift in biomedical technology.
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.
